I have now finished the build of the second generation fpga based vacuum robot . 

The following improvements were made:

• Higher suction power due to better sealing
• Webapp with several cleaning functions
• Lower height of about 7 cm => doesn't get stuck under low furniture so often anymore
• 50 min charging duration by using LiPo- rechargeable battery
• Improved navigation algorithm (still chaos principle)
• Staircase detection through cliff sensors
• Low battery alarm and automatic shutdown (using a comparator IC instead of an ADC)

Here are some pictures of the new vehicle: