I. Introduction
Wireless communication technologies have experienced incredible development in the past years. Nowadays, the global commercial progress of the fifth generation (5G) communication system has shown an unexpected growth trend, which significantly promoted the transformation of global social production modes, as well as the digital upgrading of the economy and society [1], [2], [3], [4], [5]. However, these promotions bring in novel challenges: the amounts of terminals, including mobile phones, wearable machines, Internet of Things (IoT) sensors, vehicle-to-vehicle (V2V) devices, etc., are expanding rapidly. The explosively growing demand for device connectivity, the complex and diverse urban environment, and the scarcity or imbalance of spectrum resources have brought enormous pressure to the current 5G communication systems [6], [7], [8], [9]. To overcome the above challenges, the worldwide academia and industry have worked together and completed the foundational document for sixth generation (6G), which was announced at the Radio Communication Division of the International Telecommunication Union Working Party 5-D (ITU-R WP5D) in June 2023 [10]. The document defined six major scenarios, including ubiquitous connectivity for 6G. Thus, the specific development directions of 6G have finally reached a global consensus.