I. Introduction
Communications and sensing are two major technologies for information collection and processing in various cyber physical systems (CPSs) such as autonomous driving, vehicular networks and unmanned aerial systems (UASs). In traditional systems, communications and sensing use independent devices with independent operations. However, such a separated design consumes substantial bandwidth, since both communication and sensing need to be allocated sufficient bandwidth separately. This results in a potential bandwidth congestion when there are many nodes in the CPS, each requesting significant resource of bandwidth.