Toward Joint Radar, Communication, Computation,

Localization, and Sensing in IoT

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CITATION

Nemati, Mahyar; Kim, Yun Hee; Choi, Jinho (2021): Toward Joint Radar, Communication, Computation,
Localization, and Sensing in IoT. TechRxiv. Preprint. https://doi.org/10.36227/techrxiv.17425469.v1

DOI

10.36227/techrxiv.17425469.v1
 1

Toward Joint Radar, Communication, Computation,

Localization, and Sensing in IoT
Mahyar Nemati, Member, IEEE, Yun Hee Kim, and Jinho Choi, Senior Member, IEEE

20 19.5
Abstract—Since the 1960s, joint sensing and communication

TOTAL SUBSCRIPTIONS [BILLION]

18.8
(JSAC) has been proposed as an attractive technique with advan- 19
18.1
tages of enhanced spectral and hardware efficiency along with low 18 17.2
latency. However, in those old days, complex transceiver designs 17 16.3
hindered the massive adoption of JSAC in many applications. 16 15.4
Nevertheless, thanks to advancing wireless technologies in recent 15 14.6
years, JSAC has recently attracted substantial attention for a 14
13.8
13.1
wide range of civil and military applications. In particular, JSAC 13 12.2
enables simultaneous sensing and communication functionalities 11.7
12
with the full cooperation of both operations in shared resources
11
such as hardware as well as radio resources (i.e., frequency, time,
10
space and so on). Note that sensing functionality is associated with

2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
other sub-functionalities of radio-detection-and-ranging (Radar),
computation, and localization which are sporadically used terms (a) (b)
in the literature. Thus, to generalize the concept and avoid
Fig. 1: Projection of wireless networks by 2030. As the IoT dominance
any confusion, we use the term “sensing” in the acronym is growing, the number of devices and data traffic volume are increasing
JSAC as a consistent and general term associated with the exponentially.
other aforementioned sub-functionalities. This paper elaborates
on defining sensing and communication operations and then,
provides an overview with preliminaries, key latest findings,
and state-of-the-art of JSAC. It also explores both existing and
A. Preliminaries of Communication & Sensing
emerging Internet of Things (IoT) applications of JSAC. Next, Communication, in simple terms, allows multiple entities
it provides a new classification of JSAC technologies by taking to exchange data/information with each other over wired or
into account not only the existing JSAC technologies but also wireless channels. Communication happens once there is a
a diverse range of technologies that allow JSAC to be used for
various types of IoT applications. Eventually, this study projects specific message generated and transmitted between devices.
future research directions and challenges of enabling JSAC in On the other hand, sensing refers to the detection of various
IoT. characteristics of objects and environments such as the pres-
Index Terms—Communication; Computation; Localization;
ence of objects, their shape, location, position gesture, speed of
Radar; Sensing; IoT
movements, distance, tracking, environmental measurements,
channel variations, etc [3]. It is important to note that the
I. I NTRODUCTION main difference between communication and sensing is the
With the increasing adoption of fifth-generation (5G) wire- data type. In particular, while communication is applied on
less networks, a revolution has been beginning in the smart “desired” messages, sensing is for the detection/estimation
world where a tremendous number of intelligent devices are of “unknown” features of a network and its entities, as
connected to each other which is known as the Internet of illustrated in Fig. 2. Overall, sensing functionality is associated
things (IoT). The IoT is projected to grow significantly over with other sub-functionalities of radio-detection-and-ranging
the coming years. The international telecommunication union (radar), computation, and localization which are sporadically
(ITU) [1] has estimated that more than 19 billion connected used terms in the literature [4]–[6]. Thus, in this paper, we
devices will be in use worldwide in 2030 resulting in 5016 assume that sensing is a consistent and general term that
Exabyte data traffic volume per month; more than 1600% from includes the other aforementioned sub-functionalities.
2020 as shown in Figs. 1 (a) and (b). This increase is mostly
due to the emergence of massive machine-to-machine (M2M) B. Significance of Joint Sensing and Communication
communication as an intrinsic part of the IoT which is mainly We expect to see that the majority of data traffic increment
associated with sensing [2]. Hence, two key fundamental in massive M2M communications is a result of a tremen-
functionalities defined for IoT applications are known as (i) dous number of sensors that will be deployed in emerg-
communication and (ii) sensing. ing applications of smart home/cities, supply chains, retails,
Mahyar Nemati and Jinho Choi are with the School of Information wearables, connected health, autonomous cars, etc, where
Technology, Deakin University, Geelong, VIC 3220, Australia (e-mail: joint/integrated sensing and communication (JSAC) [3]
[email protected], [email protected]) plays a key role in related mobile broadband and massive
Yun Hee Kim is with department of Electronics and Information Conver-
gence Engineering, Kyung Hee University, Yongin, Republic of Korea (e-mail: M2M communications services. In particular, cooperative de-
[email protected]) sign of sensing and communication systems with a shared
 2

L IST OF A BBREVIATIONS
5G Fifth Generation of Wireless Networks LoRa Long Range
6G Sixth Generation of Wireless Networks LoS Line of Sight
AMRFC Advanced Multi-function RF Concept LTE Long-Term Evolution
AoA Angle of Arrivals M2M Machine-to-Machine communications
BackCom Backscatter Communications MIMO Multiple-Input, Multiple-Output
CCTV Closed-Circuit Television ML Machine Learning
CDMA Code Division Multiple Access mmWave Millimeter-Waves
CRSS Communication and Radar Spectrum Sharing NASA National Aeronautics and Space Administration
DFRC Dual-Functional Radar-Communication NOMA Non-orthogonal Multiple Access
DFT Discrete-Fourier-Transform NR new radio
eMBB Enhanced Mobile Broadband OFDM Orthogonal Frequency Division Multiplexing
FDD Frequency-Division-Duplexing OTFS Orthogonal Time Frequency Space
PDSCH Physical Downlink Shared Channel
FMCW Frequency Modulated Continuous Waveforms PUSCH Physical Uplink Shared Channel
FOS Fiber Optic Sensors Radar Radio-detection-and-ranging
GNSS Global Navigation Satellite Systems RF Radio Frequency
GSM Generalized Spatial Modulation RIS Reconfigurable Intelligent Surfaces
IM Index Modulation RSS Received-Signal-Strength
IoT Internet of Things SINR Signal-to-Interference-plus-Noise Ratio
ITS Intelligent Transportation Systems TDD Time-Division-Duplexing
ITU International Telecommunication Union TDoA Time Difference of Arrivals
JRC Joint Radar Communications THz Terahertz
JRCCLS Joint Radar, Communication, Computation, Localization and UAV Unmanned Aerial Vehicle
Sensing URLLC Ultra Reliable Low Latency Communication
JSAC Joint/Integrated Sensing and Communication Wi-Fi Wireless Fidelity
LiDAR Light Detection and Ranging WLAN Wireless Local Area Network

NUMBER OF COMM. AND

Communication Sensing
SENS. PUBLICATIONS

Detection and estimation of 109

Transmission of desired

unknown features of a network

known messages

Radar Presence, direction, distance, 60

and speed 47
3 5 8 9 12 16 17 20 24
Advanced information
Computation
processing, channel variation,
multiple accessing
2010
2011
2012
2013
2014
Pinpointing the exact region or
2015
2016
Localization

2017
2018
geographic position of a user

2019
2020
2021
Fig. 2: Communication and sensing functionalities.
Fig. 3: Communication and sensing publications (accumulative) during 2010-
2021. To collect the papers across different research areas as much as possible,
spectral and hardware resources is announcing a new era of we started by using exact keyword searching on popular scientific databases
including Google Scholar, IEEEXplore, ResearchGate and arXiv one by one1 .
efficiently utilizing a limited radio-frequency (RF) spectrum
[7]. Although the RF sensing brings congestion to the wireless
networks, it is advantageous in terms of cost, compact size,
less power consumption, spectrum sharing, improved perfor- sensing (JRCCLS) [6]. Nevertheless, in this paper, we use
mance, and safety due to enhanced information sharing [7], the term JSAC as a thorough terminology to refer to all the
[8]. In response to these impacts, the literature has made aforementioned terminologies.
significant progress, with a noticeable increase in interest and The idea of having multiple functionalities, i.e., sensing
activity. Having said that, Fig. 3 shows the total number of and communication, is not new. The primary idea of JSAC
publications on communication and sensing systems published technology goes back to the 1960s when [13] proposed the
between 2010 and Nov. 2021. According to this figure, 78 first JSAC (i.e., DFRC) model to communicate data on the
percent of papers have been published since 2019, indicating modulated radar pulse intervals simultaneously. Later in the
the significance of emerging JSAC in recent years. 1970s, national aeronautics and space administration (NASA)
proposed a JSAC (i.e., JRC) orbiter Ku-band2 system in which
the two modes of radar and communication share a wide-
C. Background and Motivation band multi-function transmitter [14]. It showed how JSAC
We now introduce key terminologies in JSAC so as to make provides the sensing eyes and the communication ears and
the survey paper self-contained. In the view of the literature
1 The keywords used for searching are “joint communication and sensing”,
in both academia and industry, JSAC is introduced with
different terminologies such as: joint radar communications “joint/integrated radar communication”, “dual-function communication sys-
tems”, “passive radar”, and “multi-function RF systems”.
(JRC) [4], dual-functional radar-communication (DFRC) [5], 2 The Ku-band is the portion of the electromagnetic spectrum in the
and joint radar, communication, computation, localization and microwave range of frequencies from 12-18 GHz.
 3

TABLE I: Summary of Key Survey Papers in the Areas of JSAC. BackCom: backscatter communications, RIS: reconfigurable intelligent surfaces, ML:
machine learning, AI: artificial intelligence.
Compatible Emerging JSAC
Different Sens. & Comm. paradigms?
Ref. Main Focus Technologies for JSAC? Classifi-
Spectrum Fibre Cognitive Passive cation
BackCom JSAC RIS mmWave THz ML/AI
sharing Optic radio radar
This State-of-the-art JSAC
Sur- technologies and their ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
vey applications
Schemes for JSAC based on
[3] ✓ X X X X ✓ X ✓ X ✓ X
5G-6G design options
Perspectives for future
[4] researches of JSAC ✓ X X ✓ ✓ ✓ X X X X X
technology
JSAC spectrum sharing
[5] ✓ X X X ✓ ✓ X ✓ X X X
developments
Review of corresponding key
[6] X X X X X ✓ ✓ ✓ X ✓ X
technical enablers in JSAC
Perceptive mobile networks
[9] ✓ X X ✓ ✓ ✓ X ✓ ✓ X ✓
and key technologies
Cellular evolution framework
for JSAC using joint X X X X X ✓ X X X X X
[10]
beamforming
Summary of some JSAC
signalling techniques for ✓ X X ✓ ✓ ✓ X X X X ✓
[11]
spectrum sharing
Resource management issues
in JSAC and interference ✓ X X X X ✓ ✓ ✓ X X X
[12]
management

voice for a wireless network. NASA continued to develop their of the transmit beamforming in tandem with waveform di-
Ku-band JSAC system and then, the feasibility of combined versity enables communication links using the same pulse
functionalities of radar and communication was successfully radar sensing spectrum. In other words, the technique in
demonstrated in 1985 [15]. In the 1990s and early 2000s, an [29] allows information delivery to multiple communication
advanced multi-function RF concept (AMRFC), i.e., JSAC, directions outside the mainlobe of the radar. Furthermore,
was developed by the US Navy as a “proof-of-concept” the work in [30] demonstrated the successful deployment of
demonstration with an experimental test-bed. It showed real- sparse arrays in JSAC MIMO systems for communication
time integration of RF functions, such as radar and com- performance enhancement without impacting primary radar
munications into a single system is technically feasible [16], sensing functions.
[17]. In those early stages of JSAC, the efforts were mainly Overall, motivated by the fact that sensing capability is one
to propose a hardware design, e.g., phased array antennas, of the most highlighted new features of future networks [31],
for transmissions that are time-shared between communica- JSAC is a very promising area that presents many opportuni-
tion and radar sensing. Shortly after that and in contrary ties and challenges. Further establishment of JSAC within the
to those hardware designs for JSAC, spread spectrum with available infrastructure can deliver a better area coverage as
code division multiple access (CDMA) was proposed as a well as a more reliable interconnection between IoT devices
technique to accomplish JSAC profiting from analog chirp while facilitating a multi-static sensory mesh and bringing the
filters to produce low correlated up-chirp and low-chirp spread sensing capability almost for free [32]. Moreover, the pos-
spectrum signals for sensing and communication, respectively sibility of precise sensing in integration with communication
[18], [19]. Likewise, another JSAC model based on direct increases with the growing adoption of higher frequency bands
sequence spread spectrum techniques was studied in [20]. in 5G and 6G, e.g., millimeter-waves (mmWave) and Terahertz
Due to the advancement of the technologies in the last (THz) bands.
decade, researchers have been more interested in JSAC be-
cause of its various benefits including enhanced spectrum
efficiency and reduced device costs [21]. In [22], an ap- D. Scope and Contributions
proach for producing JSAC performance bounds was devised This paper aims to provide a high-quality comprehensive
based on the information-theoretical analysis. Moreover, there survey of JSAC. At a high-level, our primary focus in this
are efforts to exploit the different waveform structures, e.g., work is on providing an overview and the latest findings of
orthogonal-frequency-division-multiplexing (OFDM), to pig- the JSAC technology covering its advantages and challenges,
gyback JSAC [18], [23]–[25]. On the other hand, with the mas- as well as new research opportunities for both present and
sive deployment of multiple-input-multiple-output (MIMO) upcoming IoT applications. Moreover, we outline JSAC’s
systems and hybrid analog-digital beamforming, new inven- different requirements as well as its primary constraint for
tions in JSAC techniques have begun [26]–[28]. In [29], a allowing widespread IoT connectivity. We draw together the
new JSAC system was introduced where sidelobe control aspects of previous works that specifically concern JSAC,
 4

while simultaneously covering all types of approaches to JSAC

I. Introduction
that have hitherto been tackled by mobile communication Overview Structure
A. Preliminaries of Communication & Sensing
B. Significance of Joint Sensing & Communication
networks. With this as a primary objective, our three main C. Background and Motivation
D. Scope and Contributions
contributions in this paper are outlined as follows: E. Organization

• This paper defines sensing and communication, overview-

II. Applications and Use Cases of JSAC
ing their concepts and properties. It clarifies the dif- A. Enhanced Mobile Broadband
B. Intelligent Transportation Systems
ferences between various communication and sensing C. Smart Factory/City/Home

paradigms and provides a comprehensive survey of 115

III. Overview of JSAC and Similar Paradigms
communication- and sensing-related papers, across var- A. Different Communication/Sensing paradigms
B. State-of-the-Art in JSAC
ious publishing IoT areas such as intelligent transport
systems, smart factories/homes/cities, and cellular mobile IV. Types of JSAC Systems and Recent Advancements
A. Point-to-Point JSAC
networks. B. Large-Scale Multi-User JSAC

• We provide a new classification of JSAC technologies

V. Compatible Emerging JSAC Technologies
by overviewing not just the existing JSAC connectivity A. RIS-Assisted JSAC
B. MmWave- and THz-bands JSAC
technologies but also diverse state-of-the-art technologies C. ML-Aided JSAC

that can be used to provide connectivity for various types VI. Potential Challenges and Future Directions
A. JSAC for New Frequency
of IoT applications. B. New JSAC Waveforms
C. JSAC with Ultra Massive MIMO
• We consider the potential of JSAC and examine its D. RIS Empowered JSAC
E. Distributed and Collaborative JSAC
distinctive features and benefits over communication-only
and sensing-only schemes to address impeding JSAC
VI. Conclusions
issues. Based on our understanding, we project future
research directions and challenges of enabling JSAC in Fig. 4: Organization of the paper and interactions among different sections.
IoT.
To further elaborate on the contribution of this survey, we
summarize the features of existing key survey papers on JSAC (ITS), and iii) Smart factory/city/home, all of which are now in
in Table I while highlighting the benefits of our survey paper. the deployment phase. As shown in Fig. 5, we briefly review
As given and explained in Table I, we emphasize that despite three applications of JSAC along with their requirements in
the existing key surveys, our survey mainly focuses on provid- the following.
ing a broad overview on not just the various communication
and sensing paradigms but also diverse compatible emerging A. Enhanced Mobile Broadband
technologies that can be used to provide JSAC connectivity
for various types of IoT applications. In addition, we consider The main objective of JSAC in the existing mobile commu-
a new classification approach for JSAC technologies with nication networks is to enhance communication performance
respect to their requirements. through sensing. For instance, obstacles that (temporarily)
block the line-of-sight (LoS) link between a mmWave trans-
mitter and receiver can be detected by sensing. Furthermore,
E. Organization
sensing functionality can observe the channel gain variation
A high-level view of the structure of the paper is shown and adjust the communication framework with respect to
in Fig. 4. Section II provides an overview of typical JSAC’s the desired performance. The rapid network reactions to the
use cases, highlighting the benefits of JSAC for IoT appli- sensing input is a crucial factor that highlights the importance
cations. Next, Section III presents an overview of different of JSAC. In this regard, in [33], deployment of JSAC for
communications and sensing paradigms along with the state- an end-to-end communication was investigated and showed
of-the-art of the JSAC and its fundamentals. Then, a new and that JSAC leads to a huge gain in the transmission rate
detailed classification of JSAC technologies along with the when the transmitter senses its channel state and conveys a
recent advancements in JSAC is described in Section IV. After message to the receiver simultaneously. It showed that signal
that, Section V elaborates the compatible emerging JSAC tech- processing techniques are critical for the deployment of JSAC
nologies. Potential challenges and future research directions in eMBB systems. Signal processing of such systems can be
are given in Section VI. Finally, Section VII concludes the controlled by exploiting the recent advancements in MIMO,
paper. cognitive radio, compressed sensing, and machine learning
(ML) tools to reduce the required resources and dynamically
II. A PPLICATIONS AND U SE C ASES OF JSAC allocate them to the eMBB users with low overheads. The
This section elaborates the potentials of JSAC as an work in [7] provides a signal processing perspective of JSAC
exciting combination in a wide range of future IoT net- systems with an emphasis on waveform design. However, there
work use cases/applications. Indeed, JSAC can enhance user are also challenges for the deployment of JSAC in eMBB.
performance where demands for low-cost spectrum-efficient Major challenges are joint waveform design and performance
transceivers are increasing. We herein focus on the three criteria that would optimally trade-off between communication
main real-life 5G/6G services and use cases: i) Enhanced mo- and sensing functionalities. While the accuracy of sensing
bile broadband (eMBB), ii) Intelligent transportation systems functionality can be improved in higher frequencies such as
 5

Fig. 5: Illustration of JSAC use cases in IoT applications.

mmWave and THz, its utilization is of interest across the entire continuous waveforms (FMCWs) to enhance the IM-based
frequency range used by cellular networks, beginning at 700 JSAC systems. Furthermore, in ITS networks, there exists the
MHz [32]. For instance, cognitive radio is an application of IEEE 802.11ad standard for mmWave JSAC systems at 60
JSAC whose purpose is to meet the ever-increasing demand GHz unlicensed band [25], [39]–[41]. In this mmWave packet
for radio spectrum, e.g., in the so-called 700 MHz, by dynam- transmission system, there are two parts of preamble and
ically allocating spectrum without interfering with licensed message in each packet. Consequently, the message portion is
legitimate users [34]. Altogether, sensing can improve cellular used for communication and the preamble portion is exploited
communication performance, while various scenarios can be for sensing [42], [43]. Accordingly, various requirements of
applied to the use cases of eMBB depending on its in-use different JSAC strategies for autonomous vehicles were in-
frequency range. vestigated in [37]. The main requirements are limited antenna
size, simplified hardware, low power amplifiers, and interfer-
ence robustness. Hence, JSAC is supposed to offer potential
B. Intelligent Transportation Systems benefits in performance, size, cost, power consumption, and
It is not exaggerated to say that ITS is the most significant resilience.
application of JSAC. The use cases of JSAC in ITS includes
but not limited to traffic monitoring, autonomous cars, driver C. Smart Factory/City/Home
identification, localization, velocity measurement and tracking Communications for industrial IoT (e.g., smart factories)
of vehicles, smart parking, etc. In particular, autonomous often require the capability of delivering ultra-reliable low
cars require to constantly sense their surroundings for critical latency communication (URLLC) [44], [45] which increases
decision makings dealing with human lives. For instance, the the demands for simultaneous and accurate sensing. Indeed,
accurate speed of a target vehicle can be computed by mea- Industry 4.0 [46] as part of the industrial automation is one of
suring the Doppler shift and time delays [35]. Furthermore, the key applications demanding for a fast and reliable sensor
in the spatial monitoring, reflections of the radio waves are network. Therefore, a practical implementation of a large
received and processed by the network to generate spatial number of sensing devices in future industrial automation to
knowledge of the vehicle’s physical environments [32]. These have continuous communication, computation, and monitoring
use cases depict the need for large sensor deployments along is needed to meet crucial requirements of energy management,
with the communication transceivers in autonomous vehicles. data rate enhancement, and latency minimization. For exam-
In a nutshell, both terrestrial and aerial autonomous vehicles ple, the digital depiction of the real industrial environment
including cars and drones are supposed to be equipped with necessitates the accurate localization of each moving or sta-
many sensors such as light detection and ranging (LiDAR), tionary object on a factory floor. In particular, precise location
cameras, global navigation satellite systems (GNSS), and estimation surrounding a manufacturing machine can aid in
automotive radar [36]. The utilization of both sensing and determining where a machine manipulator is placed and if
communications in autonomous cars stimulates the design of any interfering objects, such as humans, are present inside
these functionalities in tandem [37]. Interestingly, [38] pro- its intended region of motion [32]. It is possible to do this
posed a JSAC model for autonomous vehicles by embedding by utilizing the ubiquitous web of RF signals built primarily
information in radar waveforms via index modulation (IM). to assist communication in an industrial setting. Due to the
Besides, [36] used sparse arrays and frequency-modulated limited resources, JSAC is an ideal solution for such services.
 6

To some extent, this set of use cases can be expanded

Communication
into the emerging smart cities also known as urban sens- Communication
OR
ing/communication technologies [47], in which a digital repro- Sensing JSAC

duction of the city can incorporate real-time traffic monitor-

ing, environmental sensing, drone surveillance network, waste Sensing

management, air quality control and other data to make the

city more habitable. The use case relies on localization, com- Communication
putation and monitoring of the city and its entities [6]. Hence, AND
Sensing
JSAC offers a high potential for integrating radio sensing into
large-scale mobile networks in cities, not only to provide quick
tracking and localization, but also to go far further and enable Fig. 6: Classification of different sensing/communication paradigms.
the network to see and hear the surroundings. [9].
Eventually, this use case category can involve the immersive
smart home [8] use cases to remotely control and manage it to the server. Although some communication-only protocols
connected devices in the home such as utilities, smart door may be used for sensing-only purposes, especially in the phase
locks, doorbells, light bulbs, indoor positioning, gas leak of data transmission, their functionality and specifications are
detection, etc. JSAC can provide pervasive and uninterrupted totally separated and different. For example, in a high-level
sensing and computing services that creates a platform for point of view, an autonomous car contains both sensing-only,
smart homes [48]. For example, in this use case family, high- e.g., radar sensors, and communication-only modules, e.g.,
resolution imaging is an important use case especially in long-term evolution (LTE) transceivers. Radar sensors may
complete darkness where usual cameras are out of service. use FMCW [52] waveform for sensing purposes while LTE
Therefore, for instance, in frequencies around 100 GHz, the modules use OFDM waveform for data transmission. These
resolution of the sensing image can be obtained below 1 cm two systems not only use different waveforms but are also
[32]. This can be pretty beneficial in the indoor localization different in hardware and spectrum. Furthermore, while
for elderly people and kids tracking [49], [50]. the interference between these operations is low, the whole
All in all, JSAC systems are divided into two main types: system suffers from spectrum inefficiency and complex
those that do sensing in large-scale networks such as cellular separated transceiver designs. LiDAR and ultra-sonic sensors
networks and those that perform sensing in point-to-point are two other examples used for sensing-only purposes with a
communication systems [51]. Most of the eMBB use cases completely different and separated design from conventional
can be classified in the first type while the majority of ITS communication-only networks.
and smart factory/city/home use cases are potentially classified
in the second type. We further discuss this classification in 2) Communication AND Sensing: In this category,
section IV. efficiency and coherency are taken into account to combine
two functionalities of communication and sensing as much
III. OVERVIEW OF JSAC AND S IMILAR PARADIGMS as possible. This leads to enhanced spectrum efficiency and
This section first reviews different communication and reduced device costs. In the following, we discuss the six
sensing paradigms and elaborates their difference with JSAC. main paradigms of “communication AND sensing”, as shown
Then, it elaborates the stat-of-the-art and different possible in Fig. 6.
sharing protocols and resources in joint communication and
sensing • Communication and Sensing Spectrum Sharing: As
shown in Fig. 7, this paradigm uses a shared spectrum
A. Different Communication/Sensing Paradigms for both sensing and communication operations. Indeed, it
In general, all communication and sensing paradigms can is different from the aforementioned separated paradigm
be classified into two main categories of “communication OR where fixed separated frequency bands are dedicated to
sensing” vs “communication AND sensing”, as shown in Fig. communication-only and sensing-only purposes. Here,
6, which will be explained in the following. communication and sensing may use different signals
but with the same spectrum utilization, e.g., different
1) Communication OR Sensing: In this paradigm, waveform designs but at the same spectrum like what
which is also known as “Separated Communication and was proposed in [53], [54]. In addition, this example
Sensing” [9], communication and sensing are treated as is a part of a topic known as communication and radar
totally separated/different/independent systems divided in all spectrum sharing (CRSS). According to [5], CRSS was
resources, e.g., time, frequency, code, space, etc. Accordingly, first prompted by the necessity for radar and commercial
communication-only allows two or more entities to exchange wireless systems to coexist. CRSS is applied on six main
messages via any kind of transmission medium based on frequency bands of
pre-defined communication protocols; while sensing-only i) L-band, i.e., 1-2 GHz,
enables data collection, which is the act of perceiving the ii) S-band, i.e., 2-4 GHz,
environment, collecting pertinent information, and delivering iii) C-band, i.e., 4-8 GHz,
 7

Fixed Separated Spectrum

Sensing
+
Communication-only Sensing-only Energy Harvesting
Spectrum +
Communication

Dynamic Shared Spectrum

BackCom-enabled Sensor

Communication and Sensing Spectrum

Sharing Spectrum Fig. 8: BackCom-enabled sensors are empowered by sensing, energy harvest-
ing and communication.
Fig. 7: “Communication and Sensing Spectrum Sharing” vs “separated
paradigm”
Wireless
modules

iv) Ku-band, i.e., 12-18 GHz, Optical

cables
v) mmWave-band, i.e., 28-30 GHz, and
vi) THz-band, i.e., 0.3 THz to 3 THz.
As these bands are projected to be widely assigned
to the future 5G/6G new radio (NR) and Wi-Fi tech-
nologies, the interference among sensing and communi-
Laying fiber optic
cation in these bands will inevitably increase, causing sensors inserted within
concerns among military and governmental organizations optical cables along
with various structures
and spurring study into the issue. For instance, air traf-
fic control radar, frequency-division-duplexing (FDD)-
Fig. 9: Fiber optic communication and sensing in cooperation with wireless
LTE and GNSS systems use L-band. The wireless local modules.
area networks (WLAN) such as 802.11b/g/n/ax/y and
3.5 GHz time-division-duplexing (TDD)-LTE systems
are deployed in S-band. C-band is mainly occupied by short-range communication purposes. For instance, in a
802.11a/h/j/n/p/ac/ax and Ku-band is widely used for large-scale overview, [57] proposed a JSAC model for the
satellite communications and NASA’s tracking data relay willingness to sense a large number of the RFID tags, e.g.,
satellite. The use cases of mmWave-band include but not attached to the attendees in a stadium, without guaranteed
limited to 802.11ad/ay WLAN protocols, 5G NR, vehicle successful communication for each tag. This showed that
to vehicle communications. Finally, the utilization of the sensing in BackCom JSAC can mitigate the excessive
THz-band is an emerging topic for wireless indoor com- signal processing imposed by a large number of tags
munication systems and fiber-equivalent wireless links, to communicating with a reader. The idea in [58] proposed
name a few. a cooperative ambient BackCom for JSAC that the reader
In general, although the spectrum efficiency in this model recovers information not only from the RF source, i.e.,
is higher than the separated paradigm, it suffers from communication, but also from the sensing tag, i.e., sens-
interference. Moreover, complex signal processing is re- ing. In general, JSAC has a great potential for enhancing
quired along with precise cooperation between terminals the BackCom system performance where BackCom tags
[9]. Furthermore, the study in [9] expanded this paradigm require to constantly evaluate their surroundings RF sig-
into a more general framework called “Coexisting Com- nals for detecting the interrogation signals and sensing the
munication and Sensing” which does not limit the system high power radio waves for efficient energy harvesting to
to the spectrum sharing but extends the sharing idea support a continuous uninterrupted communication.
toward other mutual resources such as antennas, time, • Fiber Optic Communication and Sensing: Fiber optic
spreading codes in CDMA, etc. sensors (FOSs) are a type of JSAC system containing op-
• Backscatter Communication and Sensing: Backscatter tical sensors connected to a network of optical cables. The
communication (BackCom) technology usually contains a sensors are prefabricated along with the optical cables
passive/semi-passive tag, e.g., RFID systems [55], which while cables can be used for regular data transmission.
receives a RF signal (either dedicated or ambient RF Hence, the FOSs are one of the most common wired
signal). Next, the tag modulates the RF signal and sends JSAC systems that are passive, low weight, and have
its own data over it. Since the activation of these passive low maintenance cost and are widely used for structural
tags depends on the sensing of the interrogation signal, health and geotechnical monitoring and instrumentation
BackCom is considered as a JSAC technology with a as shown in Fig. 9. Although many wireless technologies
shared hardware of the BackCom tags/transceivers for are to measure things, FOSs are more advantageous
both sensing and communication operations as shown wired JSAC systems in terms of the high reliability and
in Fig. 8. Ambient BackCom [56] which uses ambient accuracy in demanding environments. In terms of func-
signals takes one step further for spectrum efficiency as tionality, FOSs are appropriate for parameter measure-
it uses the same spectrum as ambient RF signals for ments such as strain, deformations, forces, temperature,
 8

Frequency Spectrum in Use z

(active channel) y
Spectrum
Holes x
(inactive
channel)

Sensor

Time
Sensor
Sensor

Fig. 10: Dynamic spectrum accessing in cognitive radio. Fig. 11: Passive radar localization using multiple passive sensors.

which are elaborated in [65]. For example, the hardware

accelerations, rotations, electric fields, and so on, which
designs of cognitive radio transceivers always require
are super beneficial not only in smart city applications but
multi-band antennas which increases the cost for low-cost
also in smart factories and homes. The FOSs are classified
& low-power IoT devices. Moreover, there is a security
into four main categories: i) point-based sensors, e.g.,
problem [66] since cognitive radio technology provides
Fabry-Perot [59], [60], ii) Quasi distributed sensors (mul-
more opportunities for attackers than standard wireless
tiplexed), e.g., fiber-Bragg-grating (FBG) [61], ii) Long-
networks.
base sensors [62], iv) Distributed sensors, e.g., Brillouin
• Passive Radar: Passive radar is a popular sensing tech-
and Roman scattering [63]. For instance, the long-base
nology that includes a special passive sensing receiver
FOSs can be used to monitor column lifetime variations
with the ability to listen to special radio signals and
in a building. The distributed model can measure the
extract the desired sensing information. Passive sens-
strain and temperature in every meter along the fiber cable
ing is widely used for passive localization methods, as
and is very useful to detect cracks and leaks and localize
shown in Fig. 11, like received-signal-strength (RSS),
them rather than only measuring them. FOS technology
time-difference-of-arrivals (TDoA) and angle-of-arrival
is a high-resolution sensing paradigm and have the ability
(AoA) methods [67]. Other use cases of passive sensing
to replace conventional sensors for civil applications and
include but not limited to air traffic control, weather
particularly can be used for those cases where using
observation, remote sensing of the environment, aircraft
vibrating sensors is difficult for non-destructive testing.
and ship navigation. This paradigm does not require any
It is also usable for long distances since fiber cables are
modification in the existing networks and profits from
cheaper than copper cables and high power complex wire-
a high spectrum efficiency compared to the previous
less transmitters. Moreover, no electrical power is needed
aforementioned paradigms. However, it required a ded-
in remote areas and there is no electromagnetic interfer-
icated sensing receiver, reception time is not clear and
ence. However, the communication can be significantly
there is a large latency. As a result sensing capability
affected by the sensing priority as the communication is
is restricted and multi-user detection is challenging [9].
limited into a special optical fiber direction where sensors
To some extent, passive sensing, which uses dispersed
are needed to be deployed. Besides, wireless links are
signals from non-cooperative communication systems,
often mobile and quicker than optical networks in terms
might be considered a subset of CRSS technology [5].
of pure communication speed. Hence, as shown in Fig.
9, the coexistence of FOSs and wireless modules are
• JSAC In this paradigm, researchers not only research
beneficial.
spectrum-related issues but also look at whether sensing
• Cognitive Radio: Cognitive radio is another type of
and communication can share the utmost number of
“Communication AND Sensing” that allows a transceiver
resources to help relieve resources scarcity and reduce
to sense active and inactive communication channels
device costs. The desired paradigm of JSAC aims at
and distinguish them. Then, the transceiver utilizes the
using similar signals for both sensing and communication
available inactive channels while avoiding those that are
with the highest possible spectral efficiency, low latency
already in use for its communication purposes [64], as
and ultra-high reliability. It investigates the fully shared
shown in Fig. 10. This paradigm is super beneficial for
transmitter and largely shared receiver designs [68]. As
eMBB uses cases especially in the future 5G/6G NR
a result, precise optimization is required to be done on
technologies, where there are billions of cellular users
mutual resources such as waveform, time, frequency, etc.
but they are not always active. Therefore, the inactive
channels can be sensed and used dynamically by a Overall, there are different sensing and communication
large number of users, i.e., dynamic spectrum sharing. paradigms in both optical, e.g., LiDAR and cameras, and RF
Cognitive radio is an advantageous technology to enhance bands, e.g., ultra-wideband, cellular, and Wi-Fi, with different
spectrum efficiency and minimize interference. However, advantages and weaknesses. For instance, although optical-
in busy networks, there might be a huge delay imposed based technologies have a high resolution and reliability, radio-
on the network as the transceivers need to wait until they based techniques are often more resistant to environmental
sens desired inactive channels. Besides, there are some influences such as bad illumination. Next, we further discuss
technical issues on Cognitive Radio-based IoT Systems the state-of-the-art of JSAC.
 9

B. State-of-the-Art in JSAC
Communication
The state-of-the-art of JSAC is to simultaneously sense the
surrounding environment and deliver data packets. Compared
to the conventional existing sensing technologies like video-
IoT
based monitoring or even more advanced technologies like Transceiver
LiDAR systems which need LoS and clear links, the emerging
JSAC is supposed to be mounted on RF communication signals
and monitor the surroundings even under NLoS environments.
The capability of RF signals to propagate in NLoS, dark, and Sensing

different weather conditions provides an opportunity to have

reliable sensing utilizing the existing mobile communications
infrastructures [32]. Furthermore, with the massive increase in Fig. 12: Point-to-point JSAC is a single multi-functional prototype enabled
for both sensing and communication purposes of single IoT transceiver.
the number of mobile phone users and volume of data traffic
by 2030, shown in Figs. 1 (a) and (b), the spectrum scarcity
becomes a challenging problem. Even, a significant portion of classification of JSAC systems available in the literature. It
the current in-use spectrum is dedicated to mobile communi- contains two main classes of i) Point-to-Point JSAC, ii) Large-
cation users. Nevertheless, as time goes on, more automated Scale Multi-User JSAC which are discussed in the following.
sensing systems are emerging, like autonomous cars. Hence,
the capability of JSAC systems in efficient spectrum utilization
for both sensing and communication purposes is beneficial. A. Point-to-Point JSAC
Even, by moving toward higher frequency bands in 5G and
6G systems, high-resolution sensing becomes more feasible. Point-to-point JSAC aims at designing a transceiver plat-
In many places, there might be a limitation for installing some form, as shown in Fig. 12, to piggyback both sensing and
conventional monitoring systems like surveillance cameras communication functionalities for special purposes. In [75], a
for a variety of reasons, e.g., privacy concerns. Here, JSAC hardware prototype for a spatial IM-based JSAC system was
systems using RF transmissions impinge on privacy less than proposed with respect to two coexisting sensing and com-
cameras. On the other hand, considering the huge number of munications subsystems. It employs generalized spatial IM
cellular base-stations and mobile users in urban areas these and distributed transceiver antenna components across sensing
days, JSAC can perform better in terms of sensing because of and communication subsystems based on the sent message,
the densification of reference nodes [69]. resulting in enhanced communication rates by integrating more
Designing a general waveform to piggyback both sensing data bits in the antenna selection indices. By assessing the
and communication signals is an important topic. For instance, statistical properties of the transmit beam patterns and coexist-
conventional utilization of spread spectrum with CDMA ap- ing waveforms, it showed that co-designing these subsystems
pends two sensing and communication signals causing volatile can result in significant improvements in performance, power
amplitude signal and get distorted if a nonlinear amplifier is consumption, cost, and size. In other words, profiting from
used [18]. Therefore, OFDM with its flexible and specific spatial IM, we can have better communication performance
structure was taken into account with a constant-envelope and the spatial agility induced by the spatial IM transmission
OFDM symbol for a specific JSAC approach in [70] to avoid improves the angular resolution in the sensing and reduces
non-constant amplitude signals. In [71], a variety of possible the sidelobe level in the transmit beam pattern compared to
approaches based on classical phase-coded waveforms and techniques utilizing fixed antenna allocations. In [9], a percep-
MIMO systems were investigated. Furthermore, a new full- tive point-to-point mobile network framework was proposed
duplex JSAC system was proposed in [72] with an optimized with radio sensing capability used to get information from
OFDM waveform for low latency data transmission. It utilized received mobile signals from items of interest in the area
the empty subcarriers within the OFDM frame for sensing to around the radio transceivers. It concluded that three types
improve the spectrum efficiency of the system while enabling of signals in 5G NR have the properties that can be used
dual functionality. The authors also addressed how the peak- for sensing such as i) reference signals, ii) synchronization
to-average power ratio of the waveform can be controlled signal blocks, and iii) data payloads. Additionally, different
and minimized along the optimization process. Moreover, IM- forms of signal embedding techniques for JSAC systems have
based techniques [73], [74] have recently become popular been described in [76], where JSAC was considered a solution
models for both OFDM waveforms and MIMO systems where to the spectrum congestion problem. Furthermore, [77]–[79]
indices of subcarriers or antennas can be allocated for sensing discussed how the physical downlink shared channel (PDSCH)
purposes. and physical uplink shared channel (PUSCH) can be used for
sensing purposes. In [80], a LoRa-assisted point-to-point JSAC
model was proposed for a remote structural health monitoring
IV. T YPES OF JSAC S YSTEMS AND R ECENT system of bolted joints in smart city environments. This work
A DVANCEMENTS leverages long-range (LoRa) technology for both communi-
This section further elaborates the detailed technologies cation and sensing operations to enable wide communication
and recent advancements of the JSAC along with a novel coverage and long life structural health monitoring.
 10

RISs

Fig. 14: RIS can be hung on walls and enable sensing while enhancing
communication performance at the same time.
Fig. 13: Existing cellular infrastructure can piggyback the large-scale multi-
user JSAC technologies.

V. C OMPATIBLE E MERGING JSAC T ECHNOLOGIES

This section mainly focuses on the emerging technologies
B. Large-Scale Multi-User JSAC
that have a great potential to be compatible with JSAC to
achieve situational awareness. It covers emerging technologies
Suppose that there are multiple communication-only users
such as reconfigurable intelligent surfaces (RIS), mmWave and
along with sensing-only targets like a cellular base-station
THz communications, and ML-aided JSAC as three of the
communicating with mobile users while localizing aerial vehi-
most popular emerging technologies in future IoT connectivity
cles. Here, the cellular base-station should be empowered by
schemes.
a large-scale multi-user JSAC architecture for joint communi-
cation and localization purposes, as shown in Fig. 13. In [81],
a large-scale framework was developed for a novel perceptive A. RIS-Assisted JSAC
mobile/cellular network that integrates radar sensing function RIS is an emerging technology that can manipulate imping-
into the mobile communication network. This JSAC concept ing electromagnetic waves to benefit wireless users [86], [87].
employed a single system platform that allows both downlink A brief illustration of RIS is shown in Fig. 14 as a surface with
and uplink sensing as well as the exchange of sent signals with a large number of passive sensors that are capable of changing
communications. However, sensing becomes more challenging impinging signal characteristics such as phase, amplitude,
within the rich-multipath mobile networks and requires more and polarization. It is evident that accurate sensing of the
sophisticated signal processing techniques. Here, compressive impinging wave attributes plays a vital role in programming
sensing can be considered as a useful tool for sensing per- intelligent surfaces to obtain a required performance [88].
formance along with the OFDMA for multiple accessing in Hence, JSAC is crucial not only for spectral- & hardware
multi-user scenarios. In [82], a simple multi-access scenario efficiency but also for RIS performance improvement. Fur-
for a JSAC system was purposed with dynamic estimation- thermore, while such RISs have been designed primarily
and data-rate for sensing or communication, respectively; de- for communication reasons, they can bring significant gains
pending on the importance of each operation. Additionally, in in terms of performance, energy consumption, and cost for
[83], a joint transmit beamforming model was proposed for a localization and mapping [89].
multi-user JSAC where the system transmits the weighted sum Recently, [31] investigated the wireless sensing potential of
of independent radar waveforms and communication symbols, RIS walls and demonstrated that, in addition to the attention
forming multiple beams toward the radar targets and the com- given to RIS in terms of communication characteristics, it
munication receivers. It necessitates additional modification of can provide a high-resolution radio image, i.e., digital twin,
the MIMO radar transmit beamforming weighting coefficients of the propagation environment. This is due to the fact that
while ensuring that the signal-to-interference-plus-noise ratio RIS can be positioned close to the desired sensing space
(SINR) at each communication user is greater than a certain and the high-resolution is provided by densely spaced small
threshold. However, inter-user and sensing interference is sensors distributed over a wide surface. Consequently, [31]
crucial to be re-assessed in this JSAC model because of the utilized image processing and ML tools to enhance the sens-
radar performance degradation compared to the original radar- ing performance of an RIS. In addition, RIS can act as a
only systems. Furthermore, within the context of large-scale secondary transmitter sending its own sensed information,
monitoring areas for applications such as smart farming, the such as environmental data from embedded sensors, to the
authors in [84] evaluated a coordinated sensing coverage of end-user over the same ambient impinging RF signal from
a large-scale unmanned aerial vehicles (UAV) communication a transmitter while assisting the primary transmission from
network based on the average perceptual interference of UAVs the desired transmitter to its receiver. This later model us-
and the communication capacity limits. Another large-scale ing a cooperative single antenna ambient BackCom tag was
sensory network was proposed in [85] which uses grant-free proposed in [58]. Utilization of compressive sensing tools to
non-orthogonal multiple-accessing (NOMA) as an emerging construct the channels at all the RIS elements while RIS is
JSAC technique in massive M2M communications for reduc- in the communication phase was investigated in [90]. This
ing signaling overhead. occurred as a result of the commitment of a portion of RIS
 11

components for compressed sensing and deep learning pur- Vehicular sensing
Road sign sensing
Indoor High quality
Motion sensing
imaging
poses to forecast the ideal RIS reflection coefficients directly Localization

from sampled channel knowledge. This helps a simultaneous

channel sensing and also shows the status of the environment Low-resolution sensing/imaging High-resolution sensing/imaging
along with the position of the transmitter and receiver. Besides,
[88] advocated using simple one-antenna power measurements Radio signals Visible
mmWave Sub-THz THz Infrared
light
to conduct compressed sensing of the impinging wave and
communicate with chosen transceivers. In other words, the 300 MHz 3 GHz 6 GHz 10 GHz 28 GHz 100 GHz 0.3 THz 1 THz 10 THz 430 THz 790 THz

RIS may be configured to perform both wave detection and

wave modification simultaneously. The model in [91] studied Long-range communication Short-range communication
a novel RIS setup for simultaneously localizing a target and High-speed trains
Augmented reality

serving a user. Then, the new arrangement was utilized to

improve the JSAC’s capabilities in mmWave frequencies. It Ventricular Virtual reality
divided the RIS-elements into distinct divisions for sensing and
communication functions in an adaptive manner. The sensing Fig. 15: MmWave and THz spectrum with respect to communication and
elements are responsible for localizing the target, while the sensing functionalities.
remaining elements maintain a robust communication link
with the user. In addition, [89] examined case studies of
RIS-based localization and mapping services where JSAC is benefits and allow high-resolution environment sensing if
extremely profitable. Furthermore, [92] discussed how RIS correctly applied thanks to their vast amount of accessible
improves joint communication and localization performance bandwidth [97]. However, there are some challenging issues
and demonstrated how the RIS phase profile can be adjusted such as highly uncertain and dynamic wireless channels in
for JSAC. Another work in [93] used a semi-passive RIS by these high frequencies. To be specific, due to the inherent
inserting a small set of active sensors distributed in the surface short communication range and high sensitivity to block-
to support a JSAC model for simultaneous channel sensing ing and molecule absorption, these high-frequency channel
and communication. It proposed a multi-scale enhanced deep constraints result in unreliable intermittent communications.
residual channel estimator to improve generalization and fitting As a result, such barriers may jeopardize the mmWave and
capabilities by increasing the entire network’s flexibility. It THz band’s promise of high-speed communications and high-
is capable of striking a balance between system complexity resolution sensing capabilities. The study in [97] described
and estimating performance. Furthermore, [94] studied a RIS- and thoroughly explored seven distinct defining aspects of
assisted JSAC model for minimizing channel estimation errors. THz wireless systems showing how to re-engineer wireless
The research results in [95] showed that RISs can also play systems as we know them now in order to accommodate
an important role in radar applications, revealing the first THz bands and their distinct contexts. It depicted that THz
basic trade-offs and major difficulties. It looked into a target systems benefit from quasi-opticality and may convert every
detection challenge in a sensing architecture where RIS can communication issue into a sensing opportunity, therefore
offer an extra echo of the target to the radar. The work in contributing to a new generation of adaptable JSAC wireless
[96] focused on Industry 4.0 applications and addressed the systems capable of performing various functionalities beyond
potential of RIS-aided JSAC for not only high throughput and simple communications. In [98], the authors took a stride
efficient multiplexing of wireless links, but also to provide a in this course by developing a THz sensing prototype with
high-resolution representation of the propagation environment. millimeter range imaging decision whilst taking into account
To be specific, in a smart factory environment, the RIS can be the aperture size limitation of standard cellphones. Indeed it
positioned close to the phenomenon being sensed, while the developed THz JSAC for 6G and beyond as a convergence of
high-resolution is provided by densely spaced small sensors sensing, imaging, and positioning. Moreover, [21] elaborated
dispersed across a vast region. In a nutshell, since RIS can the compatibility of OFDM systems with THz JSAC by
be regarded as a radio picture of the environment, a RIS- inventing a non-uniform multi-wideband OFDM waveform.
assisted JSAC approach can identify whether an industrial Furthermore, [99] evaluated the autonomous vehicles as a
robot deviates from a specified route using computer vision potential real-life utilization domain of joint high data-rate
and ML tools [96]. communications and high-resolution radar sensing operating
Overall, the emergence of RIS provides a range of capa- in the mmWave- and THz-bands. For instance, it showed
bilities including sensing, computation and localization along how steerable mmWave antenna arrays are used for both
with its communication functionality. It assists the concept of sensing and communication functionalities. The work in [100]
JSAC in wireless channels and can be used in a wide variety proposed a unified activity detection and channel estimation
of applications such as smart homes, factories, cities, etc. for both mmWave and THz wideband massive access. In
[101], a new model took the advantage of RISs into account
for joint channel sensing and high data-rate communication
B. MmWave- and THz-bands JSAC in THz MIMO communication systems. Another work in
Both mmWave and THz frequencies have the potential to [102] designed a joint discrete-Fourier-transform (DFT) spread
give significant wireless communication capacity performance OFDM waveform and deep learning reception architecture
 12

for THz JSAC systems. On the other hand, [103] developed

a different waveform design for TDD-based JSAC systems
in THz communications in which it can achieve ultra-high-
resolution sensing only with cost-efficient analog-to-digital
converters with low sampling rate. It showed the proposed
waveform is a robust technique against strong Doppler shift
effects of received target detection signals. In the utilization
of THz bands in environmental monitoring applications, [104]
investigated a climate change sensing methodology through
the absorption of THz signals by certain gases as a new
strategy of air quality monitoring with THz JSAC systems. Fig. 16: Future Research directions
In [105], a JSAC downlink THz approach using NOMA
was proposed where a joint beamforming-power-bandwidth
allocation and communication was employed. It improved VI. F UTURE R ESEARCH D IRECTIONS
the sum-rate performance of the NOMA system compared to Future IoT networks based on 6G and beyond are expected
traditional orthogonal multiple access systems. Furthermore, in to operate not only at sub-6 GHz supporting long-range
[5], a mmWave JSAC system architecture based on massive connectivity but also at a higher carrier frequency such as
MIMO and hybrid analog-digital beamforming structure was mmWave, sub-THz, and THz bands, coveting an unoccupied
presented. It made use of the TDD frame structure to integrate ultra-wide band. In this context, we expect that various JSAC
sensing and communication in the following scenarios: target concepts and methodologies would appear by introducing and
detection, channel estimation, communication, and tracking. combining the emerging technologies surveyed in Section V.
It also demonstrated that the proposed JSAC system can be The important and emerging topics to be studied in the future
implemented on a single mmWave base-station. are identified as follows.
In general, beyond the aforementioned benefits of mmWave
and THz bands, these systems can take the advantage of RISs,
low frequency bands, and ML tools to ensure robust system A. JSAC for New Frequency:
performance as well [97]. Both mmWave and THz bands are JSAC in sub-THz and THz bands can be designed from
to support a wide variety of services as shown in Fig. 15. the scratch less resorting to the existing standards. Thus,
various multi-purpose JSAC platforms can be developed with
their unique features at various trade-offs in sensing and
C. ML-Aided JSAC
communication performance. We believe that the information-
An unrepentant degree of freedom can be provided using theoretical analysis on the JSAC under new channel charac-
ML recent developments in JSAC systems to open up new pos- teristics reveals the intrinsic trade-off in sensing and com-
sibilities and improvements in both sensing and communica- munication that leads to novel system design criteria. New
tion operations. ML can efficiently examine dynamic patterns waveforms appropriate for given channel models as well as
in the wireless environment at a far lower complexity than the new applications should be designed under the system design
traditional optimization approaches [2]. Within the context of criterion, accompanied by signal processing at transmitter and
large-scale JSAC systems, UAV networks and their adoption receivers. In addition, infrastructures such as ultra-massive
in various communication- and sensing-based applications antennas for pencil-like beamforming and RISs for shaping the
require dynamic and intelligent system configurations. Hence, channel propagation environments favorable to JSAC should
the ML framework can provide the ability of learning for be studied to cope with severe path losses in sub-THz and THz
UAVs automation. The work in [106] addressed the different bands. In the overall system design, ML and deep learning
issues when UAVs are utilized and identified ML approaches would be key enablers in sensing and data detection as well
utilized to improve the different design and functional el- as controlling the beam pattern and RIS reflection/absorption
ements such as channel modeling, resource management, patterns.
location, and security. In [107], densification of intelligent
devices is taken into account and different ML algorithms in
sensor data analytics within the agricultural ecosystem were B. New JSAC Waveforms:
reviewed. The work in [108] discussed the development of ML Design of a new waveform for the new frequency bands
techniques and proposed an intelligent system with the ability is crucial to cope with the peculiar channel characteristics
to perceive the environment, evaluate the resources/spectrum of a higher frequency and hardware impairments such as
and learn how to adapt system configurations to make the non-linear effect of a high power amplifier. Given that a
most use of the given resources. The study in [109] reviewed new waveform beyond OFDM signaling is promising at a
signal processing and ML Techniques for THz JSAC systems. new frequency, it will lead to tremendous reformation of
Overall, ML is a strong tool that can optimize efficient transmitting and receiving platforms accompanied by new
wireless resource utilization in JSAC since resource allocation algorithms. A genuine JSAC can be accomplished by de-
optimization issues are typically too difficult to model owing signing a waveform common to sensing and communication
to dynamic wireless settings. with a predictable trade-off between sensing accuracy and
 13

communication performance. It is rather easier for the point- passive RIS sensing can be exploited for various use cases
to-point JSAC but is rather intricate for the large-scale JSAC such as the channel parameter estimation or localization and
generating multiple signals for massive IoT devices. In the tracking of IoT devices, it is required to develop a JSAC
latter case, a superposition of sensing and communications like protocol for each use case and provide the sensing algorithms
NOMA would be provide a controllable performance trade-off using low-resolution RIS sensing data. Additionally, allocation
between sensing and communication. One of such waveforms of RIS elements to sensing and communication, optimization
can be found in the recent work in [103], where a superposition of the RIS reflection coefficients, and deployment optimization
of multiple Zadoff-Chu (ZC) sequences in multiple subbands of multiple RISs including UAV-RIS are required to be inves-
was proposed for the THz band JSAC. New waveforms can tigated for simultaneous sensing and communication offering
be designed not only in the time-frequency domain but also a diverse trade-off. We would like to note again that ML and
in the delay-Doppler domain for robustness to the Doppler deep learning are a powerful tool for sensing algorithms and
shifts for new frequency and vehicular networks. The delay- optimization problems in JSAC with RISs.
Doppler domain design includes orthogonal-time-frequency-
space (OTFS) [110] but not limited to. We believe that various E. Distributed and Collaborative JSAC:
JSAC waveforms should be explored according to sensing
purposes and communication requirements that are dependent As observed earlier, not only the base-stations but also
on IoT application and deployment scenarios. multiple RISs and UAVs could be deployed in the future IoT
networks to serve ubiquitous IoT devices that are capable
of sensing, computation, and communication [113]. These
C. JSAC with Ultra Massive MIMO: constituting JSAC entities not only generate heterogeneous
Ultra massive MIMO that is more feasible at a higher fre- sensory data but also correlated data. It is also an important
quency is expected to extend the sensing and communication research subject how to analyze and communicate the sensory
coverage as well as serve more number of IoT devices with a data distributed in the network to obtain a targeted feature and
larger degree of freedom in the spatial domain. However, the desirable information in various applications, e.g., regression
utmost complexity of ultra massive MIMO and its required [?]. For data without any privacy issue, the sensory data can be
signal processing hindered its practical implementation. Re- collected at a base-station or a relay for the centralized analysis
cently, metasurface antennas with either continuous or discrete and learning through efficient communication protocols. For
meta elements are attracting considerable attention to realize sensory data with a privacy issue, the JSAC entities could
ultra massive MIMO at low hardware complexity and cost train their local models for federated learning [114]. In this
[111], [112]. It is also expected that the directly controlled context, one of a research subject for the IoT networks with
metasurface antennas could provide holographic beamforming JSAC would be joint design of communication protocols and
and modulation and sense the holographic image of nearby learning models to share the sensory data or learning model
IoT devices at a higher new frequency. In this context, it will while meeting the network requirements such as communica-
be challenging but interesting research direction to feed and tion latency and sensing accuracy.
control metasurface antennas to construct multiple beams of
different missions such as sensing and communication and VII. C ONCLUSIONS
to precept their environment. We also believe that ML and
This survey paper reviewed JSAC, which is a promising
deep learning play key role in the efficient control of the
technology for 6G, to go beyond communication and to offer
metasurface and analysis of the holographic image perceived
multi-functional capabilities for a wide range of IoT use
by the antennas.
cases such as eMBB services, smart factories/homes/cities,
and ITS. It was shown that the integration of sensing and
D. RIS Empowered JSAC: communication has a significant potential to enhance the
Most research studies on RISs have focused on RIS-assisted system’s performance while also supporting new and in-
communication, where RISs take a role of a relay changing triguing sensing and/or communication capabilities to various
radio environments favorable to communication. A simple applications. Moreover, different available combinations of
scenario of JSAC with RISs simply adds sensing functions communication and sensing functionalities were categorized
to the base-station whilst remaining the RISs to reflect the and described based on the shared resources among sensing
signals as instructed by the base-station. If active sensing is and communication operations. JSAC was discussed as a new
incorporated at the base-station, the sensed parameters at the model to look at how the utmost number of resources can be
base-station such as AoA and multipath delays can improve shared among sensing and communication to relieve resources
the channel estimation and its related operation. In this context, scarcity and reduce device costs. In addition, a new classifica-
one of interesting subjects to be investigated in the near future tion for JSAC systems was provided based on the following
is how sensing information can be incorporated to optimize two main classes: i) point-to-point JSAC and ii) large-scale
transmit beamforming and RIS reflections coefficients. multi-user JSAC. The former mainly focused on transceiver
On the other hand, not only reflecting the incident signals, and waveform design, while the later concerned more about
an RIS is made to absorb the signals for passive sensing large-scale deployment of JSAC devices, signal processing and
by installing sensors sparsely in the RIS or by adopting a multiple access techniques. Furthermore, compatible emerging
metasurface capable of both reflection and absorbance. Since technologies like RIS, mmWave & THz bands, and AI/ML
 14

aided JSAC were discussed. Eventually, we shed light on the [18] C. W. Rossler, E. Ertin, and R. L. Moses, “A software defined radar
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