Mixed Discrete–Continuous Constrained Optimization of Symmetric Multi-LiDAR Mount Configurations for Mapping Systems: A Physics-Based Simulation Study

The configuration of a multi-LiDAR system impacts coverage, redundancy, and observability in mobile mapping. In this study, a multi-LiDAR configuration is modeled as a constrained optimization problem that considers symmetry and clearance constraints. A physics-based simulation is applied to evaluate coverage, overlap, and angular diversity for spinning LiDARs such as the Ouster OS1-64 and the Velodyne VLP-16. Three methods of Bayesian Optimization (BO), Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) are used. In an indoor space, all methods find symmetric multi-sensor configurations that maximize coverage and redundancy. GA and PSO methods required thousands of evaluations, whereas BO demonstrated excellent efficiency by converging in fewer iterations. Validation using simulated, realistic trajectories and ground-truth environments shows that symmetric multi-LiDAR configuration increases surface completeness by 10–11% over single-sensor setups (up to 27% for OS1-64 and 42% for VLP-16). The results further show that bilateral symmetry is a practical mounting constraint and also a robust design principle that improves mapping completeness.