If you want good sound, then you'll have to make a bit of effort.
In order to work well, microphones need to be near to the person speaking. This means, in an ideal situation, each member of the panel has a tie-clip microphone, or table mic and there is a sound recordist with a mixer who adjusts the individual levels.
The other way is to have someone with a microphone at the end of a boom making sure that it is pointed at the person speaking.
Unless you get the microphone close to the speaker, the sound will be boomy and distant.