## 5 Results and Discussion
### Stage II
#### 5.3.2 More Demanding LiDAR Configuration
\begin{table}
\begin{tabular}{p{113.8 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt}} \hline \hline \multirow{2}{*}{**Configuration**} & \multirow{2}{*}{\begin{tabular}{c} **Attenuation** \\ **(dB)** \\ \end{tabular} } & \multicolumn{2}{c}{\begin{tabular}{c} **Average** \\ **Through-** \\ **put** \\ **(Mibps/SD)** \\ \end{tabular} } & \multicolumn{2}{c}{\
\begin{tabular}{c} **Average** \\ **RTT** \\ **Latency** \\ **(ms/SD)** \\ \end{tabular} } & \multicolumn{2}{c}{
\begin{tabular}{c} **Requirement** \\ **Compliance** \\ \end{tabular} } \\ \hline \multirow{2}{*}{(1) Auto CSI, TRS, SSB} & \multirow{2}{*}{0} & \multirow{2}{*}{156.28/12.75} & \multirow{2}{*}{43.49/21.61} & S2, S1, S3, \\  & & & P2+ \\  & & & & P2+ \\  & & & & \\  & & & & \\  & & & & \\  & & & & \\ \hline \multirow{2}{*}{(2) Auto CSI, TRS, SSB: PRACH = 128} & \multirow{2}{*}{0} & \multirow{2}{*}{154.22/15.23} & \multirow{2}{*}{47.65/25.23} & S2, S1, S3, \\  & & & & P2+ \\  & & & & & P2+ \\  & & & & & P2+ \\  & & & & & \\  & & & & & \\  & & & & & \\  & & & & & \\  & & & & & \\ \hline \multirow{2}{*}{(3) Auto CSI, TRS, SSB: PRACH = 1, USS = AL2 \(\rightarrow\) 8} & \multirow{2}{*}{0} & \multirow{2}{*}{156.27/9.76} & \multirow{2}{*}{42.61/16.34} & S2, S1, S3, \\  & & & & P2+ \\  & & & & & P2+ \\  & & & & & P2+ \\  & & & & & \\  & & & & & \\  & & & & & \\  & & & & & \\ \hline \multirow{2}{*}{(4) Auto CSI: No TRS, SR Period = 1} & \multirow{2}{*}{0} & \multirow{2}{*}{162.47/5.52} & \multirow{2}{*}{33.86/9.55} & S2, S1, S3, \\  & & & & P2+ \\  & & & & P2+ \\  & & & & & P2+ \\  & & & & & P2+ \\  & & & & & \\  & & & & & P4 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Results for configurations optimized for high throughput across different attenuation levels with reference to Figure 7.  
With 20 dB attenuation, the situation changes significantly. At this point, configurations optimized for minimum latency, such as Configuration 4, experience a pronounced drop in throughput and a substantial increase in RTT and its variability. Configuration 3 is affected even more severely, with a notable reduction in throughput and a threefold increase in RTT. In contrast, Configurations 1 and 2 maintain much more stable performance, with only moderate increases in RTT and relatively high throughput preserved. This highlights the greater resilience of Configuration 1 under worsening radio conditions. When the attenuation reaches 30 dB, Figure 7 clearly shows that none of the tested configurations are able to maintain the required performance. This illustrates the practical boundary for reliable transmission in this setup. Based on these results, Configuration 1 emerges as the most robust and stable across all considered test conditions. As shown in Table 10, it maintains consistently low end-to-end latency values for all packet sizes, even as the attenuation increases to 10 and 20 dB. Importantly, the latency always remains well within the strict requirements for all defined use cases, including the most demanding scenario, P1. Notably, P1 describes use cases where unmanned ground vehicles (UGVs) are controlled by production lines or industrial robots, highlighting the suitability of Configuration 1 for highly demanding, latency-sensitive industrial automation scenarios, even under challenging radio conditions. To further investigate the influence of packet size and channel conditions on latency, we analyzed the best-performing configuration (Configuration 1, Auto CSI, TRS, and SSB) in the more demanding LiDAR scenario, breaking down RTT latency by packet size and attenuation. This detailed breakdown is provided in Table 11.  
The data in Table 11 indicate that under increased attenuation, the average RTT generally increases with packet size, which is consistent with expectations for more challenging radio conditions. However, an exception occurs at 0 dB attenuation, where the smallest packets (16 B) experience noticeably higher average RTT and greater variability compared to larger packets.