I. Introduction
Massive machine-type communications (mMTC) is one of the three generic scenarios in the fifth-generation (5G) mobile networks and will also play the important role in the future sixth-generation (6G) systems [1]. Traditional grant-based random access schemes for mMTC networks cause excessive signaling overheads and low resource utilization efficiency due to the features of massive connections, sporadic transmissions, and small-sized packets [2]. To address the above problems, the grant-free access technology, which allows the devices to transmit data directly to the base station (BS) without scheduling, has been proposed and attracted much research attention [3].