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| || | ||   / _ \\   |  _ \\   /_   _//  /_   _// 
| '--' ||  / //\ \\  | |_| ||   -| ||-     | ||   
| .--. || |  ___  || | .  //    _| ||_    _| ||   
|_|| |_|| |_||  |_|| |_|\_\\   /_____//  /__//    
`-`  `-`  `-`   `-`  `-` --`   `-----`   `--`

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Text this: A versatile approach to polygonal object avoidance in indoor environments with hardware schemes using an FPGA-based multi-robot