“…The literature on joint waveforms for ISAC includes (i) communication waveforms used for sensing, e.g., [11], [18]; (ii) sensing waveforms used for communication, e.g., [19], [20]; and (iii) flexible designs that offer a trade-off between communication or sensing [5], [21]- [29]. Existing approaches in the latter category differ in terms of the ISAC objective function (e.g., radar and communication information rates [5], weighted radar peak-to-sidelobe level and communication signal-to-noise ratio (SNR) [21], transmit power with interference constraints [22], radar SNR under communication similarity constraint [23], generalized radar metrics under communication error constraints [24], communication interference subject to a communication similarity constraint [25], radar Cramér-Rao bound (CRB) under rate constraints [26], communication rate under CRB [27] and radar similarity [29] constraints) and the ISAC optimization variables (e.g., power [5], [29], signal covariance [21], beamformers [22], [24], [26], [27], transmit sequences across antennas [23], [25], weighted multibeams [28]).…”