  Multiple input multiple output (MIMO) radar is known for its superiority over
conventional radar due to its antenna and waveform diversity. Although higher
angular resolution, improved parameter identifiability, and better target
detection are achieved, the hardware costs (due to multiple transmitters and
multiple receivers) and high energy consumption (multiple pulses) limit the
usage of MIMO radars in large scale networks. On one hand, higher angle and
velocity estimation accuracy is required, but on the other hand, a lower number
of antennas/pulses is desirable. To achieve such a compromise, in this work,
the Cram'er-Rao lower bound (CRLB) for the angle and velocity estimator is
employed as a performance metric to design the antenna and pulse placement. It
is shown that the CRLB derived for two targets is a more appropriate criterion
in comparison with the single-target CRLB since the two-target CRLB takes into
account both the mainlobe width and sidelobe level of the ambiguity function.
In this paper, several algorithms for antenna and pulse selection based on
convex and submodular optimization are proposed. Numerical experiments are
provided to illustrate the developed theory.
