On modules like for the ESP8266 and ESP32 platforms the PCB antennas ... Ultimately, the best PCB antenna design is one where there is no nearby copper fill, and there are no traces running ...

Interestingly, [Dimitris] decided to go with a chassis made from two PCB panels. The motors ... For the controller, [Dimitris] says the ESP32 is hard to beat by pretty much any metric you want ...