The LINKSYS WRT54G/GS routers are quite popular and offer the ability to upload your own firmware. With the right firmware you can monitor the router using SNMP.
In order to monitor a LinkSys WRT54G/GS router with PRTG via SNMP you must enable SNMP on the device. If your firmware does not support SNMP already you need to upload another one (e.g. the Open-Source WiFi-BOX firmware for the WRTG54G offer SNMP for this device). Remember to set the SNMP "public" string which will serve as a password. Then open PRTG, click "Add Sensor" and point the IP to your router. You will see a number of interfaces:
(This may depend on your device and firmware version. More details here) Select the one you want to monitor and that's it.