  One of the bottlenecks of modern communications is to enable sensing and
mutual communication simultaneously without causing scheduling conflicts, and
how sensing may be leveraged to help directional communication accuracy. To
this end, we propose and implement a novel peer-to-peer (P2P) millimeter-wave
communication system to jointly achieve beamforming and sensing. A radar and
IMU-assisted tracking and beamforming algorithm is designed and tested. The
results show that a robust tracking capacity with an overall higher throughput
can be obtained. It is also hopeful that based on our proposed system, our
design and implementation can be deployed in a more scalable manner for future
extensions.
