Elevated LiDAR Placement under Energy and Throughput Capacity Constraints

Michael C. Lucic, Hakim Ghazzai, Yehia Massoud

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


Elevated LiDAR (ELiD) has the potential to hasten the deployment of Autonomous Vehicles (AV), as ELiD can reduce energy expenditures associated with AVs, and can also be utilized for other intelligent Transportation Systems applications such as urban 3D mapping. In this paper, we address the need for a planning framework in order for ITS operators to have an effective tool for determining what resources are required to achieve a desired level of coverage of urban roadways. To this end, we develop a mixed-integer nonlinear constrained optimization problem, with the aim of maximizing effective area coverage of a roadway, while satisfying energy and throughput capacity constraints. Due to the non-linearity of the problem, we utilize Particle Swarm Optimization (PSO) to solve the problem. After demonstrating its effectiveness in finding a solution for a realistic scenario, we perform a sensitivity analysis to test the model's general ability.
Original languageEnglish (US)
Title of host publicationMidwest Symposium on Circuits and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Print)9781538629161
StatePublished - Aug 1 2020
Externally publishedYes


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