Yes. Use ip nat on one router.
int e0
ip nat inside
int bri0
ip nat outside
access-list 1 permit 172.17.0.0 0.0.255.255
ip nat pool net-192 192.168.1.0 192.168.1.254 prefix-length 24
ip nat pool net-10 10.0.1.0 10.0.1.255 prefix-length 24
ip nat inside source list 1 pool net-192
ip nat outside source list 1 pool net-10
This way packets from inside will get translated to 192.168.1.x and packets sourced from outside will get translated to 10.0.1.x.
Hope it helps.
Steve