I. Introduction
Wireless communication and sensing applications at millimeter-wave (mmWave) frequencies require rapid localization and direction finding of mobile nodes [1], [2]. However, current protocols for direction finding are based on repetitive time-division beam sweeping techniques that are often non-scalable and costly in latency (Fig. 1(a)). Novel array architectures and signal processing techniques are required to avoid prohibitive beam training overhead associated with large antenna arrays and narrow beams at mmWave.