  Ultra-reliable and low-latency communications (URLLC) play a vital role in
factory automation. To share the situational awareness data collected from the
infrastructure as raw or processed data, the system should guarantee the URLLC
capability since this is a safety-critical application. In this work, the
resource allocation problem for an infrastructure-based communication
architecture (Elevated LiDAR system/ ELiD) has been considered which can
support the autonomous driving in a factory floor. The decoder error
probability and the number of channel uses parameterize the reliability and the
latency in the considered optimization problems. A maximum decoder error
probability minimization problem and a total energy minimization problem have
been considered in this work to analytically evaluate the performance of the
ELiD system under different vehicle densities.
