BELURI MIHAELA (US)
KANHERE OJAS (US)
PRAGADA RAVIKUMAR (US)
ELKOTBY HUSSAIN (US)
CABROL PATRICK (US)
HAQUE TANBIR (US)
DEMIR ALPASLAN (US)
REINER S THOM\"A ET AL: "Cooperative Passive Coherent Location: A Promising Service for Future Mobile Radio Networks", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 12 February 2018 (2018-02-12), XP081222977
NGUYEN CONG LUONG ET AL: "Radio Resource Management in Joint Radar and Communication: A Comprehensive Survey", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 5 August 2020 (2020-08-05), XP081733190
ALLOULAH MOHAMMED ET AL: "Future Millimeter-Wave Indoor Systems: A Blueprint for Joint Communication and Sensing", COMPUTER, IEEE, USA, vol. 52, no. 7, 1 July 2019 (2019-07-01), pages 16 - 24, XP011731949, ISSN: 0018-9162, [retrieved on 20190626], DOI: 10.1109/MC.2019.2914018
MD LUSHANUR RAHMAN ET AL: "Enabling Joint Communication and Radio Sensing in Mobile Networks -- A Survey", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 12 September 2020 (2020-09-12), XP081761543
CLAIMS What is Claimed: 1. A first wireless transmit/receive unit (WTRU) comprising, a processor configured to: send a localization request to a set of WTRUs; receive a localization response associated with a second WTRU, wherein the second WTRU is in the set of WTRUs; determine, based on the received localization response, a first subset of WTRUs, wherein the first subset of WTRUs is a subset of the set of WTRUs; send configuration information to the first subset of WTRUs; receive a first reference signal from a third WTRU, wherein the third WTRU is in the first subset of WTRUs; perform a first measurement associated with the first reference signal; and determine, based on the first measurement, a first target location and a first target location estimation error. 2. The first WTRU of claim 1, wherein the processor is further configured to: determine if the first target location estimation error is above a threshold; and select a second subset of WTRUs based on a determination that the first target location estimation error is above the threshold, wherein the second subset of WTRUs is a subset of the first subset of WTRUs. 3. The first WTRU of claim 2, wherein the processor is further configured to: send a second reference signal associated with the first WTRU to a fourth WTRU, wherein the fourth WTRU is a receiving WTRU in the second subset of WTRUs; receive a second measurement from the fourth WTRU, wherein the second measurement is associated with the sent second reference signal; and determine, based on the second measurement, a second target location and a second target location estimation error, wherein the second target location is a refined estimate of the first target location, and wherein the second target location estimation error is a refined estimate of the first target location estimation error. 4. The first WTRU of claim 2, wherein the processor is further configured to: perform a second measurement with a second reference signal, wherein the second reference signal is from the second subset of WTRUs; and determine, based on the second measurement, a second target location and a second target location estimation error, wherein the second target location is a refined estimate of the first target location, and wherein the second target location estimation error is a refined estimate of the first target location estimation error. 5. The first WTRU of claim 1, wherein the third WTRU is the second WTRU or a different WTRU. 6. The first WTRU of claim 1, wherein the configuration information indicates a reference signal transmission parameter, wherein the reference signal transmission parameter is associated with the first subset of WTRUs. 7. The first WTRU of claim 1, wherein the processor is further configured to send one or more of the first target location, the first target location estimation error, a second target location, or a second target location estimation error to one or more of a network or one or more WTRUs. 8. A method comprising, sending a localization request to a set of WTRUs; receiving a localization response associated with a second WTRU, wherein the second WTRU is in the set of WTRUs; determining, based on the received localization response, a first subset of WTRUs, wherein the first subset of WTRUs is a subset of the set of WTRUs; sending configuration information to the first subset of WTRUs; receiving a first reference signal from a third WTRU, wherein the third WTRU is in the first subset of WTRUs; performing a first measurement associated with the first reference signal; and determining, based on the first measurement, a first target location and a first target location estimation error. 9. The method of claim 8, further comprising: determining if the first target location estimation error is above a threshold; and selecting a second subset of WTRUs based on a determination that the first target location estimation error is above the threshold, wherein the second subset of WTRUs is a subset of the first subset of WTRUs. 10. The method of claim 9, further comprising: sending a second reference signal associated with the first WTRU to a fourth WTRU, wherein the fourth WTRU is a receiving WTRU in the second subset of WTRUs; receiving a second measurement from the fourth WTRU, wherein the second measurement is associated with the sent second reference signal; and determining, based on the second measurement, a second target location and a second target location estimation error, wherein the second target location is a refined estimate of the first target location, and wherein the second target location estimation error is a refined estimate of the first target location estimation error. 11. The method of claim 9, further comprising: performing a second measurement with a second reference signal, wherein the second reference signal is from the second subset of WTRUs; and determining, based on the second measurement, a second target location and a second target location estimation error, wherein the second target location is a refined estimate of the first target location, and wherein the second target location estimation error is a refined estimate of the first target location estimation error. 12. The method claim 8, wherein the third WTRU is the second WTRU or a different WTRU. 13. The method of claim 8, wherein the configuration information indicates a reference signal transmission parameter, wherein the reference signal transmission parameter is associated with the first subset of WTRUs. 14. The method of claim 8, further comprising: sending one or more of the first target location, the first target location estimation error, a second target location, or a second target location estimation error to one or more of a network or one or more WTRUs. |
[0194] As shown in FIG.12, the first WTRU (e.g., WTRU 1 ) may, for example, for the (e.g., each of the) (M-1) WTRUs (e.g., WTRU i , where 2≤ i ≤ M), calculate the associated mean target position estimation error for both cases: (i) if/when the WTRU i is assumed to be the transmitter ( and (ii) if/when the first WTRU is assumed to be the transmitter in the bi-static configuration of the first WTRU and the WTRU i , for example, in accordance with Equations (16), (17), (18) and (19): where 2≤ i ≤ M. [0195] As shown in FIG.12, the first WTRU (e.g., WTRU 1 ) may find the j th WTRU out of (M-1) WTRUs (e.g., 2 ≤ j ≤ M) for which the is minimum (e.g., the lowest ^ of the (M-1) WTRUs) and may find the k th WTRU out of (M-1) WTRUs (e.g., 2 ≤ k ≤ M) for which the is minimum (e.g., the lowest of the (M-1) WTRUs). [0196] As shown in FIG.12, the first WTRU (e.g., WTRU 1 ) may select the j th WTRU as a transmitter (e.g., as the best bi-static configuration for additional measurements with the first WTRU), for example, if and, if not (e.g., otherwise), the first WTRU may select the k th WTRU as the receiver and may select itself (e.g., the first WTRU) as a transmitter (e.g., as the best bi-static configuration for additional measurements with the first WTRU). [0197] The first WTRU (e.g., WTRU 1 ) may (e.g., based on the procedure shown in FIG.12) select one or more preferred bi-static configurations. For example, the first WTRU may select the first bi-static configuration (e.g., WTRU i ) with the minimum The WTRU i may be chosen as the transmitter for additional bi-static configuration for the selected configuration, for example, if is the minimum, and if not (e.g., if is the minimum), the WTRU i may be selected as the receiver (e.g., where the measurements will be taken) for additional bi-static configuration. The first WTRU may select the second bi-static configuration with the next minimum and so on. [0198] Additional measurements may be configured. The first WTRU may (e.g., determine to) enable additional bi/multi-static measurements using the preferred bi/multi-static configuration. The first WTRU (e.g., on the condition that the first WTRU determines to enable additional bi/multi-static measurements using the preferred bi/multi-static configuration) may send a request (e.g., an additional measurement request) to each of the selected preferred/support WTRUs (e.g., second WTRU, etc.), for example, to configure the selected support WTRUs for additional bi/multi-static measurements with the first WTRU. The additional measurement request message may be sent, for example, using the resource(s) configured for sidelink mode 2. [0199] An additional measurement request message sent to a selected support WTRU (e.g., second WTRU) may include, for example, one or more of the parameters that may be used (e.g., needed) for additional JCS-RS transmission for bi/multi-static measurements: a Tx/Rx indication, a BWP recommendation, a JCS-RS transmission window, Tx power, and/or other parameters. A Tx/Rx indication may indicate, for example, whether the selected support WTRU is (e.g., needs to be) the transmitter of the JCS-RS transmission (e.g., indication may be set to ‘1’) or whether the selected support WTRU is (e.g., needs to be) the receiver where the measurements are performed over the JCS-RS transmission performed by the first WTRU (e.g., indication may be set to ‘0’). A BWP recommendation may be the same or different (e.g., with larger bandwidth) compared to the BWP configured for the initial bi/multi-static measurements for the second WTRU). A JCS-RS transmission window may, for example, configure separate JCS-RS transmission/reception window durations for each of the selected support WTRUs for additional bi/multi-static measurements (e.g., to orthogonalize the transmission among the multiple selected support WTRUs). Other parameters may include, for example, a minimum bandwidth, a number of Tx-beams, and/or a number of repetitions in each beam/direction, which may be same or different from the configuration used for the initial bi/multi-static measurements for the second WTRU. For example, a larger minimum bandwidth may be configured for additional measurements (e.g., to increase the TDOA measurement resolution), etc. [0200] The selected support WTRU (e.g., second WTRU) for additional bi/multi-static measurements may transmit (e.g., need to transmit) a JCS-RS (e.g., a TX/Rx indication may be set to 1, for example, if the selected support WTRU is selected as Tx) or may make measurements using (e.g., associated with) a JCS-RS transmitted by the first WTRU (e.g., a TX/Rx indication may be set to 0, for example, if the selected support WTRU is selected ax Rx) within the configured JCS-RS transmission window duration. [0201] The first WTRU may send the additional measurement request message via the unicast transmission to the (e.g., each of the) selected support WTRUs (e.g., second WTRU, etc.), for example, using the WTRU-ID information of the selected support WTRU received in the ACK localization response from the selected support WTRU. The first WTRU may (e.g., alternatively and/or additionally) send the additional measurement request message via a groupcast or a broadcast transmission. The first WTRU may include in the additional measurement request message the WTRU IDs of the selected WTRUs and/or WTRU-specific parameters (if any), such as, for example, a BWP recommendation, a JCS-RS transmission window, etc. The additional measurement request message may be sent, for example, using a sidelink control channel (e.g., PSCCH). The message may be sent as sidelink control information (e.g., an SCI). One or more SCI format(s) may be defined/configured to send an additional measurement request message as SCI. An additional measurement request message may (e.g., alternatively and/or additionally) be sent using a sidelink shared channel (e.g., PSSCH). The decoding information (e.g., resource allocation, modulation/coding scheme, etc.) of the sidelink shared channel carrying the additional measurement request message may be sent, for example, using an SCI (e.g., a dedicated SCI or a multipurpose SCI, such as SCI 0_1 or SCI 0_2 with one or more identifiers to indicate that the transmission is intended for an additional measurement request message). [0202] The additional measurement request message may be sent to the selected support WTRUs for additional bi/multi-static measurements. The first WTRU may monitor (e.g., the resources configured for sidelink mode 2) for or receive a response (e.g., ACK or NACK) from the (e.g., each of the) selected support WTRUs (e.g., WTRUs to which the additional measurement request message were sent). The resources for ACK/NACK may be configured, for example, to associate one or more dedicated sidelink resources with the (e.g., each) additional measurement request message. Mapping between the resource used for an additional measurement request message and the associated resources for ACK/NACK may be communicated/signaled to the WTRUs, e.g., by the network. A response (e.g., an ACK/NACK) may be sent (e.g., alternatively and/or additionally), for example, by selecting resources (e.g., new resources) configured for sidelink mode 2. [0203] The first WTRU may re-send the additional measurement request message, for example, if/when the first WTRU does not receive ACKs from one or more selected support WTRUs. The first WTRU may re-send the additional measurement request message to a (e.g., the same) set of selected support WTRUs for additional bi/multi-static measurements. A transmission at the later time (e.g., re-transmission) may be at a higher power (e.g., limited to a maximum power). The first WTRU may (e.g., alternatively and/or additionally) select another set of WTRUs (e.g., out of the WTRUs involved in the initial bi/multi-static measurements), for example, by selecting a greater number of support WTRUs (e.g., compared to the number of support WTRUs selected for the previous additional measurement request transmissions), and may send the additional measurement request messages to the (e.g., newly or more recently) selected set of support WTRUs. [0204] Additional measurements may be performed. The first WTRU may perform a procedure, for example, for the (e.g., each of the) WTRUs in the first subset of WTRUs (e.g., the selected initial support WTRUs such as the second WTRU, etc.) for additional bi/multi-static measurements, from which an ACK for additional measurement request message is received by the first WTRU. The procedure may depend on, for example, whether the second WTRU is selected as Tx or Rx. [0205] The first WTRU may select the second WTRU as a Tx WTRU (e.g., TX/Rx indication may be set to 1 in the additional measurement request message to the second WTRU) to perform additional bi/multi- static measurements. The first WTRU may (e.g., if the second WTRU is selected as Tx) monitor for JCS- RS transmission on the resources configured for sidelink mode 2 within the associated configured JCS-RS transmission window and on the recommended BWP/BWPs (if any). [0206] The JCS-RS transmission from a selected support WTRU (e.g., second WTRU) may be performed, for example, via a unicast transmission to the first WTRU using the configuration indicated/specified in the additional measurement request message. The JCS-RS transmission from the second WTRU may be performed over the sidelink shared channel, e.g., PSSCH. An associated SCI may be sent (e.g., first) over a sidelink control channel (e.g., PSCCH) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH is for/includes JCS-RSs. [0207] The first WTRU may (e.g., based on reception of JCS-RS from the second WTRU) make measurements (e.g., AOA, TDOA, SNR, etc.), for example, by following the a procedure (e.g., as described herein for the initial bi/multi-static measurements). [0208] The first WTRU may re-send the additional measurement request message to the second WTRU, for example, for example, if/when the first WTRU does not receive JCS-RSs from the second WTRU after monitoring for JCS-RSs over the configured JCS-RS transmission widow duration associated with the second WTRU. [0209] The first WTRU may select the second WTRU as a Rx WTRU (e.g., e.g., TX/Rx indication may be set to 0 in the additional measurement request message to the second WTRU) to perform additional bi/multi-static measurements. The first WTRU may transmit JCS-RS (e.g., if the second WTRU is selected as Rx). [0210] The first WTRU may transmit JCS-RS in multiple (e.g., two) different directions within the configured JCS-RS transmission window for the second WTRU, such as a first direction towards the second WTRU (e.g., baseline direction) and a second direction towards the potential target. The first WTRU may perform JCS-RS transmissions in multiple directions (e.g., for the direction towards the potential target), for example, based on the configured parameters (e.g., number of beams, number of repetitions in each beam), which may be provided in an additional measurement request message sent to the second WTRU. The first WTRU may transmit JCS-RS in multiple directions, for example, simultaneously or in time-division multiplexed fashion (e.g., transmission over two different beams may be separated in time). A time offset between two consecutive transmissions (e.g., corresponding to two different directions) for time-division multiplexed transmissions over multiple directions may be communicated to the second WTRU, for example, in an additional measurement request message. The first WTRU may (e.g., alternatively and/or additionally) transmit JCS-RSs over a wide beam, for example, so that the transmission (e.g., main-lobe of the beam) may be directed towards the potential target and the second WTRU. The first WTRU may (e.g., alternatively and/or additionally) transmit JCS-RS omni- directionally. [0211] The first WTRU may transmit the JCS-RSs over one or more resources (e.g., selected from the configured resources for sidelink mode 2) within the associated configured JCS-RS transmission window and on the recommended BWP/BWPs (if any) for the second WTRU. [0212] The first WTRU may transmit the JCS-RS transmission, for example, using groupcast/broadcast (e.g., if multiple support WTRUs are selected as receiver for additional bi/multi-static measurements, and/or the first WTRU transmits JCS-RS omni-directionally) or unicast transmission to the second WTRU (e.g., using the configuration given in the additional measurement request message). A (e.g., common) set of parameters (e.g., one or more of BWP, number of beams, number of repetitions, JCS-RS transmission window, etc.) may be configured for (e.g., all) selected support WTRUs (e.g., selected as receiver for additional bi/multi-static measurements) in the additional measurement request message(s), for example, for a groupcast/broadcast transmission. The JCS-RS transmission from the first WTRU may be performed over the sidelink shared channel, e.g., PSSCH. An associated SCI may be sent (e.g., first) over a sidelink control channel (e.g., PSCCH) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include JCS-RSs. [0213] The first WTRU may monitor for (e.g., receive) a measurement report from the second WTRU, for example, after sending the JCS-RS transmission(s) to the second WTRU. The measurement report from the second WTRU may include measurements (e.g., AOA, TDOA, SNR, etc.) performed by the second WTRU over (e.g., associated with) the JCS-RS transmitted by the first WTRU. The measurement report may be transmitted by the second WTRU, for example, using unicast transmission over one or more resources (e.g., configured for sidelink mode 2). The measurements report may be transmitted by the second WTRU over the sidelink shared channel, e.g., PSSCH. An associated SCI may be sent (e.g., first) over a sidelink control channel (e.g., PSCCH) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include the measurement report for additional bi/multi-static measurements. [0214] A maximum duration (e.g., maximum reporting delay) may (e.g., also) be configured for the measurement reporting. The second WTRU may transmit the measurement report before the maximum reporting delay expires, for example, after making the measurements over (e.g., associated with) the JCS- RS transmission of the first WTRU. The value of the maximum reporting delay may be configured by the first WTRU, for example, in the additional measurement request message. [0215] The first WTRU may re-send the JCS-RSs for the second WTRU’s measurements, for example, if/when the first WTRU does not receive a measurement report from the second WTRU (e.g., after monitoring for measurement reporting over the maximum reporting delay). A transmission at a later time (e.g., re-transmission) may be at a higher power (e.g., limited to a maximum power). [0216] The first WTRU may perform target localization, for example, after performing one or more additional measurements, e.g., by making measurements over (e.g., associated with) the JCS-RS transmitted by the second subset of WTRUs (e.g., one or more selected preferred support Tx WTRUs) for additional bi/multi-static measurements, and/or by transmitting JCS-RSs to the second subset of WTRUs (e.g., one or more selected preferred support Rx WTRUs) for additional bi/multi-static measurements and receiving the associated measurement reports. [0217] The first WTRU may determine a location of the target, for example, as one location corresponding to each of the additional measurements. The first WTRU may, for example, for the (e.g., each) selected support WTRU (e.g., second WTRU) with which the additional measurements are performed, determine a location of the target (e.g., using the associated bi-static measurements (e.g., AOA, TDOA, etc.)), location information of the second WTRU, the first WTRU’s location, etc. The first WTRU may calculate the target location, for example, if/when the measurements are performed at the first WTRU (e.g., AOA measurement Θ, TDOA measurement ∆T ), the distance between the first WTRU and the second WTRU is L, and the location of the first WTRU is ( x 1 , y 1 ) In examples, the first WTRU may calculate the target location in accordance with Expression (19) and Equation (20): (19) (20) [0218] In examples, the first WTRU may calculate one or more target locations, e.g., one location corresponding to each of the selected support WTRUs involved in the additional bi/multi-static measurements (e.g., second WTRU, etc.). The first WTRU may determine a final location of target, for example, by selecting the target location associated with the measurement for which the measurement error(s) (e.g., AOA, TDOA, and/or location estimation error in the involved WTRU’s location, such as a second WTRU’s location) are the minimum. One or more measurement errors (e.g., AOA, TDOA) may depend, for example, on the associated SNR quality (e.g., a higher SNR value may provide lower AOA, TDOA measurement errors), bandwidth (e.g., a higher bandwidth may provide lower TDOA errors, etc.), beamforming capability of Tx/Rx WTRUs of the associated measurements (e.g., a better beamforming capability may reduce AOA measurements errors), etc. [0219] In examples, the first WTRU may calculate one or more target locations, e.g., one location corresponding to each of the selected support WTRUs involved in the additional bi/multi-static measurements (e.g., second WTRU, etc.). The first WTRU may determine a final location of the target, for example, by taking the average of multiple (e.g., all the) locations calculated from different additional measurements (e.g., with different selected support WTRUs involved in the additional bi/multi-static measurements). [0220] In examples, the first WTRU may calculate one or more target locations, e.g., one location corresponding to each of the selected support WTRUs involved in the additional bi/multi-static measurements (e.g., second WTRU, etc.). The first WTRU may determine a final location of the target, for example, by taking a weighted average of multiple (e.g., all the) locations calculated from different additional measurements (e.g., with different selected support WTRUs involved in the additional bi/multi- static measurements). A weight associated with a location estimate may be assigned, for example, based on the measurement errors (e.g., AOA, TDOA, and/or location estimation error in the involved support WTRU’s location, such as a second WTRU’s location) in the associated measurement. For example, weight may be inversely proportional to the measurement errors or a function of the measurement errors, weight may be proportional to the SNR or a function of the SNR of the associated measurement, and/or weight may be proportional to the bandwidth or a function of the bandwidth of the associated measurement. [0221] In examples, the first WTRU may collect one or more additional measurements. The first WTRU may determine a final location of the target, for example, by making a (e.g., soft) decision using one or more (e.g., all) measurements. A soft decision-based mechanism may include an operation performed by the first WTRU, where the first WTRU may combine one or more additional measurements to find a single final location of the target. For example, there may be an N-1 number of additional measurements performed at the first WTRU, e.g., one measurement (TDOA:∆T 1 , AOA: θ i ) over a JCS-RS transmitted by each selected support WTRU i , where 2 ≤ i ≤ N. The location of the WTRU i may be (x i , y i ) and the location of the first WTRU (e.g., WTRU 1 ) may be (x 1 , y 1 ). The first WTRU may determine the target’s location (x T , y T ) , which may minimize the measurement error with respect to all the measurements, for example, in accordance with Function (21) and Equations (22) and (23) (e.g., with reference to FIG.13 for an example deployment configuration): (21) (22) ( 23) where a i and b i may be weighting parameters. [0222] In examples, F 1 (x) = F 2 (x) = x 2 , which may convert the foregoing problem to a least square (e.g., non-linear least square) optimization. The value of the weighting parameters may be chosen, for example as a i = (3x10 8 ) 2 with unit sec -2 and -2 with unit radian . [0223] The first WTRU may send the location of the target (e.g., determined from the initial and/or additional bi/multi-static measurements) and/or one or more initial and/or additional bi/multi-static measurements (e.g., each measurement along with details, such as associated JCS-RS/WTRU and/or Tx/Rx indication used for the measurements) to a gNB (e.g., serving gNB). The first WTRU may send the location of the target and/or one or more initial/additional bi/multi-static measurements, for example, using an uplink shared channel. The first WTRU may (e.g., first) send a scheduling request to the gNB to request resources on the uplink shared channel. [0224] FIG.14A illustrates an example of a WTRU procedure to support WTRU-autonomous target localization by enabling WTRU-to-WTRU bi/multi-static measurements. The WTRU may perform at least one of the following actions (e.g., as shown in FIG.14). [0225] The WTRU may, for example, send a bi/multi-static localization request to one or more neighboring WTRUs. The request may include, for example, a zone ID of the first WTRU, a resolution requirement of the target localization, one or more potential zone IDs of the target, etc. [0226] The WTRU may, for example, monitor for a localization response (e.g., receive a localization response) from a set of WTRUs (e.g., one or more neighboring WTRUs) within the localization request retransmission duration. A localization response may include an ACK or NACK. An ACK may include, for example, one or more of the following: the zone/location information, a WTRU ID, a capability (e.g., in terms of location estimation error), a beamforming capability, and/or a maximum bandwidth support over a sidelink of the source WTRU. [0227] The WTRU may, for example, select one or more support WTRUs (e.g., second WTRU, third WTRU, etc.) for initial bi/multi-static measurements (e.g., out of the WTRUs from which localization responses with ACK are received). [0228] The WTRU may, for example, send an initial measurement configuration message to the selected support WTRUs. An initial measurement configuration message may include, for example, one or more of a minimum bandwidth, a number of Tx-beams, a number of repetitions in each beam, a BWP recommendation, a JCS-RS transmission window, etc. [0229] The WTRU may, for example, monitor for the JCS-RS transmissions (e.g., receive a JCS-RS transmission) from each of the selected support WTRUs within the associated JCS-RS transmission windows and/or on the recommended BWP/BWPs. [0230] The WTRU may, for example, make measurements (e.g., AOA, TDOA, SNR, etc.), determining a location of the target using the measurements, and/or determining the location of the first WTRU, for example, based on (e.g., in response to) reception of JCS-RS from a selected support WTRU (e.g., second WTRU). [0231] The WTRU may, for example, determine whether additional bi/multi-static measurements may be needed, e.g., based on the target location estimation error derived from the initial bi/multi-static measurements. [0232] The WTRU may, for example, determine a preferred (e.g., second) bi/multi-static configuration (e.g., a second subset of WTRUs) for additional bi/multi-static measurements (e.g., where, as shown in FIG.14A, the WTRU may perform one or more of the following: collect initial measurements, derive the target’s location, determine errors such as AOA/TDOA estimation errors (e.g., using the SNR, BW, WTRU’s beamforming capability, etc.), determine Tx/Rx location estimation error, derive the estimation error in the target’s location (e.g., for both directions or modes, and select the preferred/second configuration (e.g., providing minimum estimation error in the target’s location)). FIG.14B illustrates an example WTRU determining a preferred bi/multi-static configuration for additional bi/multi-static measurements. As shown in FIG.14B, the WTRU 1 (e.g., the first WTRU) may determine a second subset of support WTRUs (e.g., out of the WTRUs in the previously selected WTRUs, such as the first subset of WTRUs) for the additional bi/multi-static measurements. WTRU 1 may determine whether the WTRUs in the second subset of support WTRUs will be configured as Tx or Rx (e.g., based on target location estimation error. As shown in FIG.14B, WTRU 1 may determine the preferred bi/multi-static configuration to use WTRU2, for example, where WTRU2 is the Rx WTRU and WTRU 1 is the Tx WTRU (e.g., based on target location estimation error).In examples, the preferred bi/multi-static configuration (e.g., second subset of WTRUs) may be smaller than the initial bi/multi-static configuration (e.g., see FIG.14B, where WTRU3 is not included in the preferred bi/multi-static configuration). [0233] The WTRU may, for example, send an additional measurement request message to each of the selected preferred/support WTRUs (e.g., the second subset of WTRUs) for additional bi/multi-static measurements. The additional measurement request message may include, for example, one or more of a Tx/Rx indication, a BWP recommendation, a JCS-RS transmission window, a Tx power, etc. [0234] The WTRU may perform, for example, monitoring for a (e.g., an ACK/NACK) response (e.g., receiving a response, such as an ACK/NACK response) from each of the preferred selected support WTRUs (e.g., second subset of WTRUs) to which additional measurement request messages were sent. [0235] The WTRU may, for example, monitor for (e.g., receive) the JCS-RS transmissions (e.g., for additional bi/multi-static measurements) from each of the selected preferred support Tx WTRUs that sent an ACK response in response to the additional measurement request message. The monitoring may be performed within the associated JCS-RS transmission windows and/or on the recommended BWP/BWPs. The WTRU may make/perform measurements (e.g., AOA, TDOA, SNR, etc.), for example, based on the JCS-RS transmissions. [0236] The WTRU may, for example, transmit a JCS-RS (e.g., for additional bi/multi-static measurements) to each of the selected preferred support Rx WTRUs that sent an ACK response in response to the additional measurement request message. The transmission(s) may occur (e.g., be performed) within the associated JCS-RS transmission windows and/or on the recommended BWP/BWPs. The WTRU may monitor for a measurement report (e.g., for additional bi/multi-static measurements) from each of the selected support Rx WTRUs that sent an ACK response in response to the additional measurement request message. [0237] The WTRU may, for example, perform target localization using the one or more measurements available from additional bi/multi-static measurements. [0238] A bi/multi-static localization request may be sent, for example, using sidelink mode 2 groupcast/broadcast transmissions. [0239] Resources for one or more localization responses may be configured, for example, so that one or more dedicated sidelink resources may be associated with each bi/multi-static localization request message. The mapping between the resource used for a bi/multi-static localization request message and the associated resources for localization response (e.g., ACK/NACK) may be communicated/signaled to the WTRUs, e.g., by the network. [0240] Resources for localization response/responses may be (e.g., independently) selected from resources used for a bi/multi-static localization request message. [0241] The first WTRU may re-send the bi/multi-static localization request message to the set of WTRUs (e.g., one or more neighboring WTRUs), for example, if/when the first WTRU does not receive an ACK localization response from one or more WTRUs. A transmission at a later time (e.g., a re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power), with different spatial domain transmission filter (e.g., Tx beam), and/or with a greater number of Tx beams (e.g., compared to a previous transmission). [0242] Selection of a support WTRU (e.g., second WTRU) for initial bi/multi-static measurements may be determined, for example, using the geographic information (e.g., location or zone information) of the second WTRU, first WTRU, and/or the target (e.g., if available). [0243] Selection of a support WTRU (e.g., second WTRU) for initial bi/multi-static measurements may be determined based on the location estimation error of the second WTRU. The location estimation error may be received within the localization response from the second WTRU. [0244] An initial measurement configuration message and/or an additional measurement request message may be sent to the selected support WTRUs for initial and/or additional bi/multi-static measurements. A message may be sent, for example, using a sidelink mode 2 unicast, groupcast, or broadcast transmission. [0245] Separate JCS-RS transmission window durations in an initial measurement configuration message and/or in an additional measurement request message may be configured (e.g., for each of the selected support WTRUs), for example, to orthogonalize the measurements among the WTRUs selected support for initial and/or additional bi/multi-static measurements. [0246] The same or separate BWPs may be configured in an initial measurement configuration message for each of the selected support WTRUs (e.g., for initial bi/multi-static measurements). [0247] A JCS-RS transmission for initial and/or additional bi/multi-static measurements may be performed, for example, using the sidelink shared channel (e.g., PSSCH) over the resource configured for sidelink mode 2. [0248] The first WTRU may re-send the initial measurement configuration message, for example, if/when the first WTRU does not receive JCS-RSs from one or more selected support WTRUs after monitoring for JCS-RSs from the selected support WTRUs for initial bi/multi-static measurements (e.g., over the associated JCS-RS transmission window durations). A transmission at a later time (e.g., re- transmission) may be, for example, at a higher power (e.g., limited to a maximum power). [0249] The first WTRU may measure the target location estimation error with each of the initial bi/multi- static measurements, for example, based on one or more of the associated SNR measurements, the selected support WTRU’s beamforming capability, the first WTRU’s beamforming capability, bandwidth used for the initial JCS-RS transmissions, etc. [0250] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is below the maximum location estimation error threshold and above a second threshold (e.g., a (required) location estimation error threshold). The values of the thresholds (e.g., maximum location estimation error threshold and/or (required) location estimation error threshold) may be communicated/signaled to the first WTRU, e.g., by the network. [0251] The first WTRU may (e.g., determine to) re-initiate the WTRU selection procedure for initial bi/multi-static measurements, for example, if/when the target location estimation error derived from the initial bi/multi-static measurements is above the maximum location estimation error threshold. The transmission of a bi/multi-static localization request message at the later time (e.g., re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power), with a different spatial domain transmission filter (e.g., Tx beam), and/or with a greater number of Tx beams (e.g., compared to a previous transmission of a bi/multi-static localization request message). [0252] The selection of a preferred bi/multi-static configuration for additional bi/multi-static measurements may be performed, for example, using one or more of the initial bi/multi-static measurements, a WTRU capability of the WTRUs involved in the initial measurements, a WTRU capability of the first WTRU, etc. [0253] Resources for an ACK/NACK for an additional measurement request message may be configured, for example, so that one or more dedicated sidelink resources may be associated with each additional measurement request message. Mapping between the resource used for an additional measurement request message and the associated resources for the ACK/NACK may be communicated/signaled to the WTRUs (e.g., by the network). [0254] Resources for the ACK/NACK for an additional measurement request message may be (e.g., independently) selected from a resource used for an additional measurement request message. [0255] The first WTRU may re-send the additional measurement request message(s), for example, if/when the first WTRU does not receive one or more (e.g., all) ACKs for additional measurement request message(s) from one or more selected support WTRUs for additional bi/multi-static measurements. A transmission at a later time (e.g., re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power) and/or to a different set of WTRUs (e.g., out of some or all the support WTRUs involved in the initial bi/multi-static measurements), for example, compared to the WTRUs selected for a previous transmission of an additional measurement request message. [0256] A maximum duration (e.g., a maximum reporting delay) may (e.g., also) be configured for the measurement reporting. A selected Rx WTRU for additional bi/multi-static measurements (e.g., second WTRU) may make measurements over a JCS-RS transmission of the first WTRU. The selected Rx WTRU for additional bi/multi-static measurements (e.g., second WTRU) may (e.g., need to) transmit the measurement report before the maximum reporting delay expires. The value of the maximum reporting delay may be configured, for example, by the first WTRU (e.g., in the additional measurement request message). The first WTRU may re-send the JCS-RSs for the second WTRU’s measurements, for example, if/when the first WTRU does not receive a measurement report from the second WTRU (e.g., after monitoring for measurement reporting over the maximum reporting delay). A transmission at a later time (e.g., re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power). [0257] The first WTRU may send to a gNB (e.g., serving gNB) the location of the target (e.g., determined from the initial and/or additional bi/multi-static measurements), and/or one or more initial and/or additional bi/multi-static measurements (e.g., each measurement along with details, such as an associated JCS-RS/WTRU and/or Tx/Rx indication used for the measurements). [0258] Network-assisted (e.g., hybrid) target localization may be performed, for example, by enabling/using WTRU-to-WTRU bi/multi-static measurements. A WTRU (e.g., the first WTRU) may enable the initial bi/multi-static measurements, for example, via the network (e.g., serving gNB). The network may assist the first WTRU in selecting one or more WTRUs (e.g., second WTRU, third WTRU, etc.) to participate in initial bi/multi-static measurements with the first WTRU and/or in configuring the resources to perform such measurements (e.g., over NR/LTE PC5 interface using sidelink mode 1). The additional bi/multi-static measurements may be performed (e.g., autonomously) by the first WTRU, for example, using an NR/LTE PC5 interface using sidelink mode 2. [0259] FIG.15 illustrates an example of a (e.g., high-level overview of a) network-assisted procedure for enabling WTRU-to-WTRU bi/multi-static measurements for a target localization. The first WTRU (e.g., WTRU 1 ) may send a request to the network to configure initial bi/multi-static measurements for a target localization. The network may configure one or more support WTRUs (e.g., second WTRU, third WTRU, etc.). The network may allocate the resources for initial bi/multi-static measurements. The network may send the initial bi/multi-static configuration to the first WTRU. Initial bi/multi-static measurements may be performed, for example, using the selected support WTRUs on the configured resources. The first WTRU (e.g., WTRU 1 ) may determine the preferred configuration for additional bi/multi-static measurements, for example, based on the initial measurements. Additional bi/multi-static measurements may be performed, for example, using the selected preferred configuration by the first WTRU. Target localization may be performed, for example, using the measurements available from the additional and/or initial bi/multi-static measurements. Further examples herein provide example details for each of the signaling messages and procedures shown in FIG.15. [0260] A network-assisted configuration may be provided for initial bi/multi-static measurements. FIG. 16 illustrates an example procedure for network-assisted initial bi/multi-static measurements. The first WTRU (e.g., WTRU 1 ) may send a request (e.g., a bi/multi-static localization assistance request) to the network (e.g., serving gNB), for example, to request (e.g., to enable) initial bi/multi-static measurements to determine a location of a target. The bi/multi-static localization assistance request message may include, for example, one or more of the following parameters: one or more potential zone IDs (e.g., if known) or direction and range estimates for each of the targets to be localized, a WTRU identity of the first WTRU, and/or resolution requirements for the target localization. [0261] A bi/multi-static localization assistance request message may include one or more potential zone IDs (e.g., if known) or direction and range estimates for each of the targets to be localized. A direction (e.g., potential estimated direction) in which the target may reside may correspond to the relative direction with respect to the first WTRU’s own reference (e.g., relative to the angle of arrival of the downlink SS/PBCH block selected by the first WTRU, for example, for random access channel association and transmission. The relative direction may be determined, for example, in terms of azimuth (e.g., horizontal) and elevation (e.g., vertical) angles relative to the angle of arrival of the selected downlink SS/PBCH block (e.g., in terms of angular units, such as degrees, minutes, seconds). The direction may (e.g., alternatively) correspond to an absolute direction (e.g., in terms of degrees, minutes, seconds) with respect to a global reference (e.g., compass bearing) or may correspond to named directions (e.g., north, south-east, etc.). Range may be indicated with respect to the first WTRU’s location in which the target may reside. [0262] A bi/multi-static localization assistance request message may include WTRU identity of the first WTRU, such as a WTRU ID that may be used to uniquely identify the first WTRU over the PC5 unicast interface or sidelink. [0263] A bi/multi-static localization assistance request message may include resolution requirements for the target localization (e.g., high resolution, low resolution, etc.). A resolution or resolution level may be considered in terms of range (e.g., range resolution), temporal resolution, and/or spatial resolution. Range resolution may refer to the minimum distance between two targets that may be supported (e.g., so that both the targets can be distinguished). Temporal resolution may refer to the minimum time interval to detect change (e.g., object movement). Spatial resolution may refer to the size of a minimum detectable object. [0264] The first WTRU may be configured with an uplink resource configuration to send a bi/multi-static localization assistance request message to the network (e.g., gNB). The configuration information may include, for example, at least one of: a periodicity, a time offset, a prohibit time (e.g., prohibit timer), an uplink control channel (e.g., physical uplink control channel (PUCCH)) configuration (e.g., format, time/frequency resources, etc.), etc. The configuration information may be communicated to the WTRU, for example, using higher layer (e.g., radio resource control (RRC)) signaling, etc. The WTRU may (e.g., alternatively) use a higher layer signaling (e.g., sending an RRC message), which may include the request. The WTRU may (e.g., alternatively) send a bi/multi-static localization assistance request message to the network (e.g., gNB), for example, using an uplink shared channel (e.g., physical uplink shared channel (PUSCH)). The WTRU may send a scheduling request to the network (e.g., gNB) to request to allocate resources on the uplink shared channel. [0265] The network/gNB (e.g., serving gNB) may receive a bi/multi-static localization assistance request message from the first WTRU. The network/gNB (e.g., serving gNB) may determine one or more potential WTRUs (e.g., second WTRU, third WTRU,…, nth WTRU, etc.) that may participate in initial bi/multi-static measurements with the first WTRU. Selection of a WTRU (e.g., second WTRU) for initial bi/multi-static measurements with the first WTRU may be determined by the network/gNB, for example, using the geographic information (e.g., location or zone information) of the second WTRU, the first WTRU, and the target (e.g., potential one or more zones determined using the information received in the bi/multi-static localization assistance request). Geographic information of the first and second WTRUs may be known, for example, via (e.g., based on) the location/position server (e.g., evolved serving mobile location center (E- SMLC), secure user plane location platform (SLP), and/or location management function (LMF), etc.). In examples, the network/gNB may select a set of WTRUs (e.g., one or more neighboring WTRUs of the first WTRU, such as a second WTRU, third WTRU,…, nth WTRU, etc.). In examples, the zone/zones (e.g., or rough location/region) of the target may be known (e.g., indicated/provided in the bi/multi-static localization assistance request). The network/gNB may select one or more WTRUs (e.g., second WTRU, third WTRU,…, nth WTRU, etc.) that may form a (e.g., good) bi-static configuration with the first WTRU to detect the target (e.g., as described herein). [0266] The network/gNB may send a request (e.g., localization request) to the selected WTRU (e.g., second WTRU, third WTRU,…, nth WTRU, etc.) to participate in the initial bi/multi-static measurements with the first WTRU. The localization request may include, for example, one or more of the following parameters: zone(s) or direction and range of the target (e.g., with respect to the recipient WTRU of the localization request), WTRU identity of the first WTRU (e.g., received in the bi/multi-static localization assistance request from the first WTRU), minimum bandwidth for a JCS-RS transmission (e.g., which may be determined from the resolution requirement that may be indicated in a bi/multi-static localization assistance request from the first WTRU), and/or uplink resources (e.g., over a PUCCH or PUSCH) to send a response to the localization request, etc. [0267] The localization request for a selected WTRU (e.g., second WTRU) may be sent, for example, over the downlink control channel or downlink control information (DCI), which may be masked or scrambled (e.g., with a CRC scramble), for example, with the selected WTRU’s (e.g., second WTRU’s) radio network temporary identifier (RNTI) or other RNTI (e.g., a localization-RNTI (L-RNTI)) that may be defined/configured for a localization request). The localization request for a selected WTRU (e.g., second WTRU) may (e.g., alternatively) be sent over a downlink shared channel (e.g., physical downlink shared channel (PDSCH)), for which the decoding information may be sent in a DCI, e.g., scrambled with the selected WTRU’s (e.g., second WTRU’s) RNTI or L-RNTI. [0268] The second WTRU may send a response (e.g., ACK or NACK) to the network/gNB, for example, after receiving a localization request message from the network/gNB (e.g., serving gNB). The second WTRU may send an ACK to the network/gNB, for example, if the second WTRU agrees to participate in the initial bi/multi-static configuration with the first WTRU (e.g., agrees on the configuration provided in a localization request and agrees to share the location of the second WTRU with the first WTRU). The second WTRU may send a NACK to the network/gNB, for example, if the second WTRU does not agree on the configuration given in localization request and/or does not agree to share the location of the second WTRU with the first WTRU. The ACK/NACK response may be sent, for example, using the uplink resources (e.g., over a PUCCH or PUSCH), which may be indicated/provided in the localization request message. [0269] The network/gNB may select one or more WTRUs (e.g., second WTRU, nth WTRU, etc.) as support WTRUs out of (e.g., all) the WTRUs that sent an ACK in response to a localization request to participate in initial bi/multi-static measurements with the first WTRU. For example, the network/gNB may select as support WTRUs one or more (e.g., all) the WTRUs that sent an ACK in response to a localization request to participate in initial bi/multi-static measurements with the first WTRU. The network/gNB may send configuration information (e.g., a localization configuration information) to the selected support WTRUs. The configuration information (e.g., localization configuration information) may include, for example, one or more of the following parameters: the resources for JCS-RS transmissions, a Tx power, a number of Tx-beams, a number of repetitions in each beam/direction, etc. The localization configuration information may be sent, for example, on the downlink control channel (e.g., DCI scrambled with the recipient WTRU’s RNTI, L-RNTI, or sidelink RNTI (SL-RNTI)) or the downlink shared channel (e.g., PDSCH). Decoding information for the localization configuration information may be sent in the downlink control channel (e.g., via DCI scrambled with the recipient WTRU’s RNTI or L-RNTI). [0270] The first WTRU may monitor for (e.g., receive) a response (e.g., a bi/multi-static localization assistance response) from the network/gNB, for example, after sending the bi/multi-static localization assistance request message. The bi/multi-static localization assistance response may include, for example, one or more of the following parameters for initial bi/multi-static measurements: a WTRU ID (e.g., a WTRU ID that may be used to uniquely identify a WTRU over the PC5 unicast interface), a location or zone information, WTRU capabilities (e.g., in terms of location estimation errors, beamforming capability, etc.), and/or resource configuration information for JCS-RS transmissions (e.g., including scheduling information) for each of the selected support WTRUs (e.g., second WTRU, nth WTRU, etc.), etc. [0271] The bi/multi-static localization assistance response message from the network/gNB may be received, for example, in a downlink control channel or DCI (e.g., scrambled with the first WTRU’s RNTI or L-RNTI or SL-RNTI). The bi/multi-static localization assistance response message from the network/gNB may (e.g., alternatively) be received in a downlink shared channel (e.g., PDSCH), for which the decoding information may be indicated, for example, in a DCI (e.g., scrambled with the first WTRU’s RNTI, L-RNTI, or SL-RNTI). [0272] A maximum monitoring duration (e.g., assisted localization request retransmission duration/window (ALRRD)), may be defined/configured, for example, to refer to the maximum duration over which the first WTRU may monitor for bi/multi-static localization assistance response message(s) (e.g., after sending the bi/multi-static localization assistance request). The value of the maximum monitoring duration (e.g., ALRRD) may be communicated/signaled to the first WTRU, for example, by the network/gNB/serving gNB (e.g., via a higher layer or system information). [0273] The first WTRU may re-send the bi/multi-static localization assistance request message to the network/gNB, for example, if/when the first WTRU does not receive a bi/multi-static localization assistance response message from the gNB after monitoring over the maximum monitoring duration (e.g., ALRRD). [0274] The first WTRU may receive a bi/multi-static localization assistance response message from the network/gNB. The first WTRU may (e.g., after receiving the response message) monitor for (e.g., receive) the JCS-RS transmissions from each of the configured (or selected support) WTRUs (e.g., second WTRU, nth WTRU, etc.) on the associated configured resources, which may be provided/indicated in the bi/multi- static localization assistance response message from the network/gNB. [0275] The JCS-RS transmission from a configured WTRU (e.g., second WTRU) may be performed, for example, via a unicast transmission to the first WTRU (e.g., for which the WTRU ID of the first WTRU may be given to the second WTRU in localization request from the gNB). The JCS-RS transmission from the second WTRU may be performed, for example, using the configuration requirements, which may be indicated/provided in the localization request and localization configuration information from the network/gNB. The JCS-RS transmission from the second WTRU may be performed, for example, over the sidelink shared channel, (e.g., PSSCH). An associated SCI may be sent (e.g., first) over a sidelink control channel (e.g., PSCCH) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include JCS-RSs. [0276] A configured WTRU (e.g., second WTRU) may transmit JCS-RS to perform bi/multi-static measurements, for example, by following a procedure described herein. [0277] The first WTRU may make measurements (e.g., AOA, TDOA, SNR, etc.) and may find a location of the target, for example, using the JCS-RS transmitted by each of the configured WTRUs, for example, by following a procedure as described herein. [0278] WTRU-autonomous additional bi/multi-static measurements may be performed. The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements with one or more of the first WTRU’s neighboring WTRUs. The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, with one or more of the WTRUs with which the initial bi/multi-static measurements were performed. [0279] The first WTRU may re-send the bi/multi-static localization assistance request message to the network/gNB, for example, if a target location estimation error derived from each of the initial bi/multi-static measurements is above the maximum location estimation error threshold. A re-transmission of a bi/multi- static localization assistance request message may include, for example, an indication that none of the configurations selected for initial bi/multi-static measurements for the previous bi/multi-static localization assistance request message are sufficient to achieve the (e.g., required) target localization. The indication may help the network/gNB to select another set of WTRUs (e.g., different from the previous selection) and/or another configuration for initial bi/multi-static measurements for the WTRU. [0280] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is below the location estimation error threshold (e.g., maximum location estimation error threshold) and above a second threshold (e.g., a (e.g., required) location estimation error threshold). [0281] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, based on the initial bi/multi-static measurements. For example, additional bi/multi-static measurements may be performed to lower the measurement error experienced in the initial bi/multi-static measurements (e.g., measurement error in the target’s location estimation error that may be associated with measurement errors in AOA and/or TDOA measurements). [0282] The first WTRU may (e.g., autonomously) perform one or more of the following: selection of a preferred configuration for additional bi/multi-static measurements using the initial bi/multi-static measurements, configuration of the additional bi/multi-static measurements (e.g., sending configuration information to the selected support WTRUs for additional bi/multi-static measurements), JCS-RS transmission and/or reception for additional bi/multi-static measurements, and/or derivation of the location of the target. The first WTRU may autonomously perform one or more of the foregoing operations, for example, over the sidelink (e.g., using the resources configured for sidelink mode 2), e.g., by following a procedure described herein. [0283] The first WTRU may send (e.g., to the gNB) the location of the target (e.g., determined from the initial and/or additional bi/multi-static measurements) and/or one or more initial and/or additional bi/multi- static measurements (e.g., each measurement along with the details, such as an associated JCS- RS/WTRU and/or Tx/Rx indication used for the measurements). The first WTRU may send the location of the target and/or one or more initial bi/multi-static measurements, for example, using the uplink shared channel for which the resources may be communicated/signaled to the WTRU (e.g., in a bi/multi-static localization assistance response). The first WTRU may (e.g., first) send a scheduling request to request resources to send the location of the target and/or one or more initial bi/multi-static measurements to the network (e.g., gNB), for example, if the uplink resources are not configured. [0284] FIG.17 illustrates an example of a network-assisted procedure for target localization using bi/multi-static measurements. In examples, sidelink mode 1 and mode 2 based resource allocation may be utilized in a network-assisted procedure. FIG.17 shows an example WTRU (e.g., first WTRU) performing an operation to support network-assisted target localization by enabling WTRU-to-WTRU bi/multi-static measurements. The operation may include one or more of the following actions. [0285] The WTRU may, for example, send a bi/multi-static localization assistance request (e.g., including one or more of direction, range information of the target, WTRU ID of the first WTRU, resolution requirement of the target localization, etc.) to the network (e.g., gNB), for example, to enable initial bi/multi- static measurements (e.g., to determine the location of a target). [0286] The WTRU may, for example, monitor for (e.g., receive) a bi/multi-static localization assistance response from the network (e.g., gNB) within the assisted localization request retransmission duration. The response may include, for example, one or more of a WTRU ID, location or zone information, WTRU capabilities, resource configuration information for a JCS-RS transmission for each of the WTRUs selected/configured by the network (e.g., gNB) for initial bi/multi-static measurements. [0287] The WTRU may, for example, monitor for (e.g., receive) the JCS-RS transmissions for initial bi/multi-static measurements from each of the configured WTRUs on the configured resources. [0288] The WTRU may, for example, receive a JCS-RS from a configured WTRU (e.g., second WTRU). The first WTRU may make measurements (e.g., AOA, TDOA, SNR, etc.) and may determine an initial location of the target (e.g., using the measurements) and the location of the first WTRU. [0289] The WTRU may, for example, determine to perform additional bi/multi-static measurements (e.g., determine that additional bi/multi-static measurements are needed), for example, based on the initial target location estimation error derived from the initial bi/multi-static measurements. [0290] The WTRU may, for example, determine a preferred bi/multi-static configuration for additional bi/multi-static measurements. [0291] The WTRU may, for example, send an additional measurement request message to each of the selected preferred/support WTRUs to configure for additional bi/multi-static measurements. The request message may include, for example, one or more of a Tx/Rx indication, a BWP recommendation, a JCS-RS transmission window, Tx power, etc. [0292] The WTRU may, for example, monitor for (e.g., receive) an ACK/NACK response from each of the selected support WTRUs to which additional measurement request messages were sent. [0293] The WTRU may, for example, monitor for (e.g., receive) the JCS-RS transmissions from each of the selected support Tx WTRUs (e.g., WTRUs that sent an ACK response to the additional measurement request message) for additional bi/multi-static measurements. Monitoring may occur during/within the associated JCS-RS transmission windows and/or on the recommended BWP/BWPs. The WTRU may make/perform measurements (e.g., AOA, TDOA, SNR, etc.). [0294] The WTRU may, for example, transmit a JCS-RS for each of the selected support Rx WTRUs (e.g., WTRUs that sent an ACK in response to the additional measurement request message) for additional bi/multi-static measurements. Transmitting may occur (e.g., be performed) within the associated JCS-RS transmission windows and/or on the recommended BWP/BWPs. The WTRU may monitor for (e.g., receive) a measurement report from each of the selected support Rx WTRUs (e.g., WTRUs that sent an ACK in response to the additional measurement request message) for additional bi/multi-static measurements. [0295] The WTRU may, for example, perform target localization using the one or more measurements available from additional bi/multi-static measurements. [0296] The first WTRU may re-send the bi/multi-static localization assistance request message to the network (e.g., gNB), for example, if/when the first WTRU does not receive a bi/multi-static localization assistance response message from the network (e.g., gNB) within a time limit (e.g., the assisted localization request retransmission duration). [0297] The first WTRU may measure the target location estimation error with each of the initial bi/multi- static measurements, for example, based on one or more of the associated SNR measurements, the configured WTRU’s beamforming capability, the first WTRU’s beamforming capability, bandwidth used for the initial JCS-RS transmissions, etc. [0298] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is below the location estimation erorr threshold (e.g., maximum location estimation error threshold) and above a second threshold (e.g., a (e.g., required) location estimation error threshold). The values of the thresholds (e.g., maximum location estimation error threshold and/or the (e.g., required) location estimation error threshold) may be communicated/signaled to the first WTRU (e.g., by the network). [0299] The first WTRU may re-transmit the bi/multi-static localization assistance request message to the network (e.g., gNB), for example, if/when the target location estimation error derived from the initial bi/multi- static measurements is above the location estimation error threshold (e.g., maximum location estimation error threshold). The first WTRU may indicate (e.g., in a re-transmission) that none of the configurations selected for initial bi/multi-static measurements for the previous bi/multi-static localization assistance request message are sufficient to achieve the (e.g., required) target localization. [0300] Selection of a preferred bi/multi-static configuration for additional bi/multi-static measurements may be performed, for example, using one or more of the initial bi/multi-static measurements, a WTRU capability of the WTRUs involved in the initial measurements, a WTRU capability of the first WTRU, etc. [0301] Resources for an ACK/NACK in response to an additional measurement request message may be configured, for example, so that one or more dedicated sidelink resources may be associated with each additional measurement request message. Mapping between the resource used for an additional measurement request message and the associated resources for an ACK/NACK may be communicated/signaled to the WTRUs (e.g., by the network). [0302] Resources for an ACK/NACK in response to an additional measurement request message may be (e.g., independently) selected from resources used for an additional measurement request message. [0303] The first WTRU may re-send the additional measurement request message(s), for example, if/when the first WTRU does not receive ACKs for additional measurement request message(s) from one or more selected support WTRUs for additional bi/multi-static measurements. A transmission at a later time (e.g., re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power) and/or to a different set of support WTRUs (e.g., compared to the support WTRUs selected for a previous transmission of an additional measurement request message). A different set of support WTRUs may be selected, for example, from (e.g., all) the configured WTRUs involved in the initial bi/multi-static measurements. [0304] A maximum duration (e.g., maximum reporting delay) may (e.g., also) be configured for the measurement reporting. The selected Rx WTRU for additional bi/multi-static measurements (e.g., second WTRU) may (e.g., need to) transmit the measurement report before the maximum reporting delay expires, for example, after making the measurements over the JCS-RS transmission (e.g., from the first WTRU). The value of the maximum reporting delay may be configured (e.g., by the first WTRU), for example, in the additional measurement request message. The first WTRU may re-send the JCS-RSs for the second WTRU’s measurements, for example, if/when the first WTRU does not receive a measurement report from the second WTRU after monitoring for measurement reporting over the maximum reporting delay. A transmission at a later time (e.g., re-transmission) may be, for example, at a higher power (e.g., limited to a maximum power). [0305] The first WTRU may send (e.g., to the gNB) the location of the target (e.g., determined from the initial and/or additional bi/multi-static measurements), and/or one or more initial and/or additional bi/multi- static measurements (e.g., each measurement along with the details, such as an associated JCS- RS/WTRU and/or Tx/Rx indication used for the measurements). [0306] A network (e.g., gNB) may perform operations to support network-assisted target localization, for example, by enabling WTRU-to-WTRU bi/multi-static measurements. The network (e.g., gNB) may perform at least one of the following actions/operations. [0307] The network (e.g., gNB) may, for example, receive a bi/multi-static localization assistance request message from a WTRU (e.g., first WTRU), and select one or more WTRUs (e.g., second WTRU, third WTRU,…, nth WTRU, etc.) to perform initial bi/multi-static measurements with the first WTRU (e.g., based on the geographic information of the first WTRU, geographic information of the candidate WTRUs, and the zone information of the target shared by the first WTRU). [0308] The network (e.g., gNB) may, for example, send a localization request to the selected WTRUs to request to participate in the initial bi/multi-static measurements with the first WTRU. The localization request may include, for example, at least one of the following: zone(s) information for the target, a WTRU ID of the first WTRU, a minimum bandwidth for JCS-RS transmission, uplink resources to send a response for localization request, etc. [0309] The network (e.g., gNB) may, for example, monitor for (e.g., receive) an ACK/NACK response from each of the WTRUs to which a localization request was sent. [0310] The network (e.g., gNB) may, for example, select one or more support WTRUs (e.g., second WTRU, nth WTRU, etc.) to participate in initial bi/multi-static measurements with the first WTRU. Support WTRUs may be selected, for example, from (e.g., all) WTRUs that sent an ACK for the localization request. [0311] The network (e.g., gNB) may, for example, send a localization configuration to the selected support WTRUs. The localization configuration may include, for example, one or more of the following: resources for JCS-RS transmissions, a Tx power, a number of Tx-beams, a number of repetitions in each beam/direction etc. [0312] The network (e.g., gNB) may, for example, sending a bi/multi-static localization assistance response to the first WTRU (e.g., within the assisted localization request retransmission duration). A bi/multi-static localization assistance response may include, for example, one or more of the following: a WTRU ID, location or zone information, WTRU capabilities, resource configuration information for JCS-RS transmission for each of the selected support WTRUs for initial bi/multi-static measurements, etc. [0313] The network (e.g., gNB) may select support WTRUs (e.g., other than the support WTRUs selected in a previous configuration) to enable initial bi/multi-static measurements with a WTRU (e.g., first WTRU), for example, if/when the first WTRU provides/sends a bi/multi-static localization assistance request with an indication that none of the previously selected configurations are sufficient (e.g., good) for the given target localization. [0314] Network-controlled target localization may enable/use WTRU-to-WTRU bi/multi-static measurements. A WTRU (e.g., the first WTRU) may enable initial and additional bi/multi-static measurements via the network (e.g., serving gNB). The network may assist the first WTRU in selecting one or more support WTRUs (e.g., second WTRU, third WTRU, etc.) to participate in initial bi/multi-static measurements with the first WTRU. The network may assist the first WTRU in configuring the resources to perform initial and/or additional bi/multi-static measurements (e.g., over NR/LTE PC5 interface using sidelink mode 1). [0315] FIG.18 illustrates an example of a (e.g., high-level overview of a) network-controlled procedure for enabling WTRU-to-WTRU bi/multi-static measurements for a target localization. The first WTRU (e.g., WTRU 1 ) may send a request to the network, for example, to configure initial bi/multi-static measurements for a target localization. The network may configure one or more support WTRUs (e.g., second WTRU, third WTRU, etc.). The network may allocate resources for initial and additional bi/multi-static measurements. The network may send the configuration to the first WTRU. Initial bi/multi-static measurements may be performed, for example, using the selected support WTRUs on the configured resources. The first WTRU (e.g., WTRU 1 ) may determine the preferred configuration for additional bi/multi- static measurements, for example, based on the initial measurements. The first WTRU may send a determination/decision of the preferred configuration for the additional bi/multi-static configuration to the network, which may help the network to manage resources allocated for the additional bi/multi-static measurements. Additional bi/multi-static measurements may be performed, for example, using the selected preferred configuration by the first WTRU on the configured resources received from the network. Target localization may be performed, for example, using the measurements available from the additional and/or initial bi/multi-static measurements. Examples described herein provide example details of each of the signaling messages and procedures shown in FIG.18. [0316] A network-assisted configuration may be provided for initial bi/multi-static measurements. The first WTRU may send a bi/multi-static localization assistance request to the network/gNB (e.g., as described herein), for example, to enable the initial bi/multi-static measurements to perform a target localization. The network/gNB, may receive the bi/multi-static localization assistance request message from the first WTRU. The network/gNB may perform a procedure (e.g., as described herein) to determine and configure one or more support WTRUs (e.g., second WTRU, third WTRU, etc.) to participate in the initial bi/multi-static measurements with the first WTRU, for example, based on receiving the bi/multi-static localization assistance request message from the first WTRU. The network/gNB may configure the one or more support WTRUs, for example, with one or more of resources for JCS-RS transmissions, Tx power, min BW, number of Tx-beams, number of repetitions in each beam/direction, etc. [0317] The first WTRU may follow a procedure (e.g., as described herein) to monitor for bi/multi-static localization assistance response from the network/gNB, for example, after sending the bi/multi-static localization assistance request message. The bi/multi-static localization assistance response may include one or more parameters described herein, such as (e.g., but not limited to) a WTRU ID (e.g., a WTRU ID that may be used to uniquely identify a WTRU over the PC5 unicast interface), location or zone information, WTRU capabilities (e.g., in terms of location estimation errors, beamforming capability, etc.), and/or resource configuration information for JCS-RS transmissions for each of the selected support WTRUs (e.g., second WTRU, third WTRU, etc.), etc. A bi/multi-static localization assistance response may (e.g., also) include one or more of the following configuration information. [0318] A bi/multi-static localization assistance response may (e.g., also) include configuration information (e.g., resources, MCS, Tx power, etc.) to send (e.g., to the gNB) a successful localization (e.g., termination), an additional measurement indication, or an additional measurement re-configuration request. Resources may be configured, for example, over the uplink control channel or uplink shared channel. A bi/multi-static localization assistance response may (e.g., also) include configuration information (e.g., resources, MCS, Tx power, etc.) to send an additional measurement configuration message to the neighboring WTRUs. A configuration may be performed, for example, using the resources allocated for an NR sidelink mode 1 resource allocation. A bi/multi-static localization assistance response may (e.g., also) include configuration information (e.g., resources, Tx power, etc.) for additional JCS-RS transmissions to perform additional bi/multi-static measurements with the neighboring WTRUs. A configuration may be performed, for example, using the resources allocated for an NR sidelink mode 1 resource allocation. A bi/multi-static localization assistance response may (e.g., also) include configuration information (e.g., resources, MCS, Tx power, etc.) for measurement reporting for additional bi/multi-static measurements. A configuration may be performed, for example, using the resources allocated for an NR sidelink mode 1 resource allocation. [0319] A first WTRU may receive a bi/multi-static localization assistance response message from the network/gNB. The first WTRU may monitor for (e.g., receive) the JCS-RS transmissions from each of the configured WTRUs (e.g., second WTRU, third WTRU, etc.) on the associated configured resources indicated/provided in the bi/multi-static localization assistance response message from the network/gNB, for example, based on reception of the bi/multi-static localization assistance response message from the network/gNB. [0320] Each of the configured WTRUs (e.g., second WTRU, third WTRU, etc.) may transmit JCS-RSs. The first WTRU may perform measurements on the JCS-RSs transmitted by the configured WTRUs (e.g., as described herein). [0321] FIG.19 illustrates an example of a WTRU procedure to enable additional bi/multi-static configuration and measurements using the resources configured by the network. The first WTRU may determine (e.g., whether) to perform additional bi/multi-static measurements with one or more of its neighboring WTRUs. The first WTRU may determine (e.g., whether) to perform additional bi/multi-static measurements with one or more of the WTRUs with which the initial bi/multi-static measurements were performed. [0322] The first WTRU may determine (e.g., whether) to perform additional bi/multi-static measurements, for example, based on the initial bi/multi-static measurements. For example, additional bi/multi-static measurements may be performed to reduce/lower the measurement error experienced in the initial bi/multi-static measurements (e.g., measurement error(s) in the target’s location estimation error, which may be associated with measurements errors in AOA and/or TDOA measurements). The first WTRU may measure the target location estimation error, for example, as described herein. [0323] The first WTRU may send an indication (e.g., a successful localization or termination indication) to the network (e.g., serving gNB), for example, if the target location estimation error derived from the initial bi/multi-static measurements is below a threshold (e.g., a location estimation error threshold, such as a required location estimation error threshold). The first WTRU may send a successful localization or termination indication, for example, using the uplink configuration (e.g., on an uplink control or shared channel), which may be provided/indicated by the network/gNB in the bi/multi-static localization assistance response. [0324] The network/gNB may receive a successful localization or termination indication from the first WTRU. The network/gNB may deallocate the resources allocated to the first WTRU, for example, to enable additional bi/multi-static measurements (e.g., based on receiving a successful localization or termination indication from the first WTRU). Deallocated resources may include, for example, the resources for the additional measurement configuration message, JCS-RS transmissions for additional bi/multi-static measurements, and measurement reporting. The deallocated resources may be used for one or more other purposes. [0325] The first WTRU (e.g., after sending the successful localization or termination indication) may send (e.g., to the gNB) the location of the target (e.g., determined from the initial bi/multi-static measurements) and/or one or more initial bi/multi-static measurements (e.g., each measurement along with the details, such as an associated JCS-RS/WTRU used for the measurements). The first WTRU may send the location of the target and/or one or more initial bi/multi-static measurements, for example, using the uplink configuration (e.g., for which the resource may be communicated/signaled to the first WTRU in the bi/multi-static localization assistance response). The first WTRU may (e.g., first) send a scheduling request to request resources to send the location of the target and/or one or more initial bi/multi-static measurements to the network/gNB, for example, if the uplink resources are not configured. [0326] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is above a threshold (e.g., the location estimation error threshold, such as a required location estimation error threshold) and below another threshold (e.g., a maximum location estimation error threshold). [0327] The first WTRU may determine the preferred bi/multi-static configuration for additional bi/multi- static measurements, for example, if (e.g., on the condition that) the first WTRU determines to perform additional bi/multi-static measurements. The preferred bi/multi-static configuration for additional bi/multi- static measurements may include, for example, selection of one or more preferred neighboring WTRUs from the support WTRUs involved in the initial measurements (e.g., second WTRU, third WTRU, etc.) to form a bi/multi-static configuration with the first WTRU, and determination of which of the WTRUs selected for additional bi/multi-static measurements and the first WTRU will be the transmitter or receiver to perform additional bi/multi-static measurements. [0328] The first WTRU may follow a procedure (e.g., as described herein) to determine the preferred bi/multi-static configuration for additional bi/multi-static measurements. The first WTRU may use the configuration (e.g., configuration for additional measurements and/or measurement reporting), for example, alone or in combination with other procedures described herein, to determine the bi/multi-static configuration for additional bi/multi-static measurements. For example, resource allocation given (e.g., provided or indicated) by the network/gNB for additional measurements may affect (e.g., constrain) the number of support WTRUs that may be selected for additional bi/multi-static measurements. For example, a resource allocation given by the network/gNB for measurement reporting may affect (e.g., constrain) the number of support WTRUs that may be selected as Rx WTRUs for additional bi/multi-static measurements. [0329] The first WTRU may send an indication (e.g., an additional measurement indication) to the network (e.g., serving gNB), for example, if (e.g., on the condition that) the first WTRU determines to perform additional bi/multi-static measurements. The additional measurement indication may (e.g., also) indicate, for example, if resources are requested/needed for measurement reporting. There may be no request/need for measurement reporting of additional measurements from any selected support WTRU (e.g., second WTRU, etc.) to the first WTRU, for example, if the first WTRU is selected as the Rx WTRU to perform (e.g., all) the additional bi/multi-static measurements. [0330] The network/gNB (e.g., after receiving an additional measurement indication from the first WTRU) may deallocate resources allocated for measurement reporting and may use the deallocated resources for one or more other purposes, for example, if the additional measurement indication from the first WTRU indicates that the resources for measurement reporting are not needed for additional measurements. [0331] A re-configuration request may be provided for additional measurements. The first WTRU may send a request (e.g., an additional measurement re-configuration request) to the network/gNB to request re-configuration for additional measurements and/or measurement reporting. For example, the first WTRU may determine that the configuration for additional measurements and/or measurement reporting given in the bi/multi-static localization assistance response from the network/gNB may be insufficient to achieve a configured or specified (e.g., required) localization performance. For example, the bandwidth configured for the resources allocated for additional measurements may be insufficient to achieve the configured or specified (e.g., required) TDOA resolution for additional measurements. For example, resource(s) in the time-domain may be insufficient to achieve the configured or specified (e.g., required) Doppler estimate for additional measurements. [0332] The additional measurement re-configuration request may be sent, for example, using the (e.g., same) resources configured for a successful localization indication and/or an additional measurements indication. The first WTRU may send additional information in the additional measurement re-configuration request, such as, for example, an indication of the domain (e.g., frequency/time/power/etc.) to be reconfigured by the re-configuration (e.g., in which the re-configuration is needed). [0333] The first WTRU may (e.g., after sending the additional measurement re-configuration request to the gNB) monitor for (e.g., receive) a response (e.g., an additional measurement re-configuration response) from the network/gNB. A response may include, for example, the updated (e.g., new) configuration information (e.g., resources, Tx power, etc.) for additional measurements and/or measurement reporting. [0334] The additional measurement re-configuration response message from the network/gNB may be received, for example, in a downlink control channel or DCI (e.g., scrambled with the first WTRU’s RNTI, L- RNTI, or SL-RNTI). The additional measurement re-configuration response message from the network/gNB may (e.g., alternatively) be received in a downlink shared channel (e.g., PDSCH). Decoding information may be indicated in a DCI (e.g., scrambled with the first WTRU’s RNTI, L-RNTI, or SL-RNTI). [0335] The first WTRU may (e.g., determine to) re-initiate the initial bi/multi-static measurements, for example, if the first WTRU determines that the configuration selected in initial bi/multi-static measurements is insufficient (e.g., not good) for the target localization. The first WTRU may (e.g., determine to) re-initiate the initial bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is above the (e.g., maximum) location estimation error threshold. The first WTRU may re-send the bi/multi-static localization assistance request message to the network/gNB. The re-transmission of the bi/multi-static localization assistance request message may include, for example, an indication that none of the configurations selected for initial bi/multi-static measurements for the previous bi/multi-static localization assistance request message are sufficient/enough to achieve the specified or configured (e.g., required) target localization. For example, the indication may help the network/gNB to select another (e.g., different from a previous selection) set of support WTRUs and/or configuration for initial bi/multi-static measurements for the first WTRU. [0336] Configuration information may be provided for additional measurements. The first WTRU may (e.g., determine to) enable additional bi/multi-static measurements, e.g., using a preferred bi/multi-static configuration. The first WTRU may send a request (e.g., additional measurement configuration information), to each of the selected preferred/support WTRUs (e.g., second WTRU, etc.) for additional bi/multi-static measurements, for example, to configure the selected WTRUs for additional bi/multi-static measurements with the first WTRU (e.g., based on a condition that the first WTRU (e.g., determines to) enable additional bi/multi-static measurements using the preferred bi/multi-static configuration). The additional measurement configuration message may be sent, for example, using configuration information (e.g., resources, MCS, Tx power, etc.) provided/given by the network/gNB (e.g., in a bi/multi-static localization assistance response). [0337] The additional measurement configuration message to a selected support WTRU (e.g., second WTRU) may include, for example, one or more parameters that may be used/needed for additional JCS-RS transmission(s) for bi/multi-static measurements, such as a Tx/Rx indication, configuration information (e.g., resources, Tx power, etc.) for JCS-RS transmissions, configuration information (e.g., resources, MCS, Tx power, etc.) for measurement reporting (e.g., if the recipient support WTRU is selected as an Rx for the measurements), and/or other parameters (e.g., a number of repetitions in each beam/direction), etc. The configuration information for JCS-RS transmissions and measurement reporting (e.g., if any) may be (e.g., selected as) the same configuration information given by the network/gNB in the bi/multi-static localization assistance response. The resources for JCS-RS transmissions/measurement reporting (e.g., indicated in the additional measurement configuration message to the second WTRU) may include one or more resources selected out of the resources allocated by the network/gNB for additional measurements/measurement reporting (e.g., indicated in a bi/multi-static localization assistance response). [0338] The additional measurement configuration message may be sent (e.g., via the sidelink unicast/groupcast/broadcast transmission) to the selected support WTRUs for additional bi/multi-static measurements using resources configured by the network/gNB. The additional measurement configuration message may be sent, for example, as sidelink control information, e.g., using a sidelink control channel (e.g., PSCCH). One or more SCI formats may be defined/configured for an additional measurement configuration message. The additional measurement configuration message may (e.g., alternatively) be sent using the sidelink shared channel (e.g., PSSCH). The decoding information (e.g., resource allocation, modulation/coding scheme, etc.) of the sidelink shared channel carrying the additional measurement configuration message may be sent, for example, using an SCI (e.g., a dedicated SCI or a multipurpose SCI, such as SCI 0_1 or SCI 0_2 with one or more identifiers to indicate that the transmission is intended for an additional measurement configuration message). [0339] After sending the additional measurement configuration message to the selected support WTRUs for additional bi/multi-static measurements, the first WTRU may monitor for (e.g., receive) a response (e.g., ACK or NACK) from each of the selected support WTRUs (e.g., WTRUs to which the additional measurement configuration message were sent). The resources for ACK/NACK may be configured, for example, to associate one or more dedicated sidelink resources with each additional measurement configuration message. Mapping between the resource used for an additional measurement configuration message and the associated resources for ACK/NACK may be communicated/signaled to the WTRUs (e.g., by the network). [0340] The first WTRU may perform one or more procedures for each of the support WTRUs (e.g., second WTRU, etc.) selected for additional bi/multi-static measurements that provided an ACK response to an additional measurement configuration message provided by the first WTRU. [0341] The first WTRU may select the second WTRU as the Tx WTRU to perform additional bi/multi- static measurements, which may be indicated, for example, by setting a Tx/Rx indication to 1 in the additional measurement configuration message to the second WTRU. The first WTRU may monitor for (e.g., receive) a JCS-RS transmission on the resource(s) configured in the additional measurement configuration message to the second WTRU. [0342] The JCS-RS transmission from a selected support WTRU (e.g., second WTRU) may be performed, for example, via a unicast transmission to the first WTRU, e.g., using the configuration information (e.g., requirements) indicated/given in the additional measurement configuration message. The JCS-RS transmission from the second WTRU may be performed over the sidelink shared channel, e.g., a PSSCH. An associated SCI over sidelink control channel (e.g., PSCCH) may be sent (e.g., first) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include one or more JCS-RSs. [0343] The first WTRU may make measurements (e.g., AOA, TDOA, SNR, etc.), for example, based on a reception of a JCS-RS from the second WTRU. [0344] The first WTRU may transmit a JCS-RS, for example, if the first WTRU selects the second WTRU as a Rx WTRU to perform additional bi/multi-static measurements, which may be indicated, for example, by setting a Tx/Rx indication to 0 in the additional measurement configuration message to the second WTRU. [0345] The first WTRU may transmit a JCS-RS to the second WTRU using/on configured resources, which may be specified in the additional measurement configuration message sent to the second WTRU. The first WTRU may transmit a JCS-RS, for example, using omni-directional or one/multi directional transmissions (e.g., as described herein). [0346] The first WTRU may choose to transmit the JCS-RS transmission to the second WTRU, for example, using a unicast transmission or a groupcast/broadcast transmission (e.g., if multiple support WTRUs are selected as receiver for additional bi/multi-static measurements, and/or if the first WTRU transmits JCS-RS omni-directionally). A transmission may use the configuration information indicated/given in the additional measurement configuration message. A common set of parameters (e.g., one or more of resources for the JCS-RS transmission, Tx power, number of beams, number of repetitions, etc.) may be configured for multiple (e.g., all) selected support WTRUs (e.g., selected as receiver for additional bi/multi-static measurements) in the additional measurement configuration message(s), for example, for a groupcast/broadcast transmission. The JCS-RS transmission from the first WTRU may be performed over the sidelink shared channel, e.g., a PSSCH. An associated SCI over sidelink control channel (e.g., PSCCH) may be sent (e.g., first) carrying the decoding information of the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include JCS-RSs. [0347] The first WTRU may send the JCS-RS transmission(s) to the second WTRU. The first WTRU may monitor for (e.g., receive) a measurement report (e.g., AOA, TDOA, SNR, etc.) from the second WTRU on the configured resources for measurement reporting (e.g., indicated in the additional measurement configuration message sent to the second WTRU), for example, after sending the JCS-RS transmission(s) to the second WTRU. The measurements report may be received over the sidelink shared channel, e.g., a PSSCH. An associated SCI over sidelink control channel (e.g., PSCCH) may be received (e.g., first) carrying decoding information for the PSSCH. Fields and/or identifiers in (e.g., multipurpose) SCIs (e.g., SCI 0_1 or SCI 0_2) or dedicated SCIs may be defined/configured to indicate that the associated transmission over the PSSCH may include the measurement report for additional bi/multi-static measurements. [0348] The first WTRU may perform one or more additional measurements, for example, by making measurements over (e.g., associated with) the JCS-RS transmitted by one or more selected support Tx WTRUs for additional bi/multi-static measurements. The first WTRU may receive one or more additional measurements, for example, by transmitting JCS-RSs to one or more selected support Rx WTRUs for additional bi/multi-static measurements and receiving the associated measurement reports. The first WTRU may perform target localization, for example, based on the one or more additional measurements. The first WTRU may perform target localization, for example, as described herein. [0349] FIG.20 illustrates an example of a network-controlled procedure for target localization using bi/multi-static measurements (e.g., using a sidelink Mode 1 based resource allocation). FIG.20 shows an example operation performed by a WTRU (e.g., first WTRU) to support network-controlled target localization by enabling WTRU-to-WTRU bi/multi-static measurements. The operation may include, for example, one or more of the following actions. [0350] The first WTRU may, for example, send a bi/multi-static localization assistance request to the network (e.g., gNB) to request to enable initial bi/multi-static measurements to determine location of a target. A bi/multi-static localization assistance request may include, for example, one or more of a direction, range information of the target, a WTRU ID of the first WTRU, a resolution requirement of the target localization, etc. [0351] The first WTRU may, for example, monitor for (e.g., receive) a bi/multi-static localization assistance response from the network/gNB (e.g., during/within the assisted localization request retransmission duration). A bi/multi-static localization assistance response may include, for example, a WTRU ID, location or zone information, WTRU capabilities, resource configuration information for a JCS- RS transmission for each of the selected/configured support WTRUs by the network (e.g., gNB) for initial bi/multi-static measurements, resource configuration information for a successful localization indication, an additional measurement indication, and/or an additional measurement re-configuration request, transmission of additional measurement configuration information, transmission of a JCS-RS for additional measurements, and/or measurement reporting. [0352] The first WTRU may, for example, monitor for (e.g., receive) the JCS-RS transmissions from each of the configured WTRUs on the configured resources. [0353] The first WTRU may, for example, receive at least one JCS-RS from at least one configured WTRU (e.g., second WTRU). The first WTRU may make at least one measurement (e.g., AOA, TDOA, SNR, etc.) based on the at least one received JCS-RS. The first WTRU may determine a location of the target based on (e.g., using) the at least one measurement and the location of the first WTRU. [0354] The first WTRU may, for example, determine that additional bi/multi-static measurements are needed, for example, based on the target location estimation error derived from the initial bi/multi-static measurements. [0355] The first WTRU may, for example, determine a preferred bi/multi-static configuration for additional bi/multi-static measurements. [0356] The first WTRU may, for example, send an additional measurement indication to the network, e.g., along with an indication (e.g., information) whether the resources for measurement reporting are needed. [0357] The first WTRU may, for example, send an additional measurement configuration message to each of the selected preferred/support WTRUs to configure for additional bi/multi-static measurements. The additional measurement configuration message may include, for example, one or more of a Tx/Rx indication, resource configuration information for JCS-RS transmission/reception, etc. [0358] The first WTRU may, for example, monitor for (e.g., receive) an ACK/NACK response from each of the WTRUs to which an additional measurement configuration message was sent. [0359] The first WTRU may, for example, monitor (e.g., configured resources) for (e.g., receive) the JCS-RS transmissions from each of the support Tx WTRUs (e.g., selected for additional bi/multi-static measurements) that provided an ACK in response to an additional measurement configuration message. The first WTRU may make/perform measurements (e.g., AOA, TDOA, SNR, etc.) based on the received JCS-RS transmissions. [0360] The first WTRU may, for example, transmit a JCS-RS using/on the configured resources for each of the support Rx WTRUs (e.g., selected for additional bi/multi-static measurements) that provided an ACK in response to an additional measurement configuration message). The first WTRU may monitor (e.g., configured resources) for (e.g., receive) a measurement report from each of the support Rx WTRUs (e.g., selected for additional bi/multi-static measurements) that sent an ACK in response to an additional measurement configuration message. [0361] The first WTRU may, for example, perform target localization using the one or more measurements available from additional bi/multi-static measurements. [0362] The first WTRU may re-send the bi/multi-static localization assistance request message to the network/gNB, for example, if/when the first WTRU does not receive a bi/multi-static localization assistance response message from the network/gNB within a time limit (e.g., the assisted localization request retransmission duration). [0363] The first WTRU may measure the target location estimation error with each of the initial bi/multi- static measurements, for example, based on one or more of the associated SNR measurements, the configured WTRU’s beamforming capability, the first WTRU’s beamforming capability, bandwidth used for the initial JCS-RS transmissions, etc. [0364] The first WTRU may (e.g., determine to) perform additional bi/multi-static measurements, for example, if the target location estimation error derived from the initial bi/multi-static measurements is below a threshold (e.g., the maximum location estimation error threshold) and above a second threshold (e.g., a location estimation error threshold, such as a required location estimation error threshold). The values of thresholds (e.g., maximum location estimation error threshold and/or (e.g., required) location estimation error threshold) may be communicated/signaled to the first WTRU, e.g., by the network. [0365] The first WTRU may send a (e.g., successful) localization indication to the network/gNB, for example, if the target location estimation error derived from the initial bi/multi-static measurements is below the (e.g., required) location estimation error threshold. [0366] The first WTRU may send an additional measurement re-configuration request to the network/gNB, for example, to request re-configuration for additional measurements and/or measurement reporting. Additional information may be sent (e.g., in a measurement re-configuration request), such as an indication of the domain(s) (e.g., frequency/time/power/etc.) for re-configuration. [0367] The first WTRU may monitor for (e.g., receive) an additional measurement re-configuration response from the network/gNB, for example, after sending the additional measurement re-configuration request (e.g., to the network/gNB). The additional measurement re-configuration response may include, for example, the updated (e.g., new) configuration information (e.g., resources, Tx power, etc.) for additional measurements and/or measurement reporting. [0368] The first WTRU may re-transmit the bi/multi-static localization assistance request message to the network/gNB, for example, if/when the target location estimation error derived from the initial bi/multi- static measurements is above a threshold (e.g., the maximum location estimation error threshold). The first WTRU may indicate (e.g., in the re-transmission) that one or more (e.g., all) of the configurations selected for initial bi/multi-static measurements for the previous bi/multi-static localization assistance request message are insufficient to achieve the (e.g., required) target localization. [0369] Selection of a preferred bi/multi-static configuration for additional bi/multi-static measurements may be performed, for example, using one or more of the initial bi/multi-static measurements, a WTRU capability of the WTRUs involved in the initial measurements, a WTRU capability of the first WTRU, etc. [0370] Resources for an ACK/NACK for an additional measurement configuration message may be configured, for example, so that one or more dedicated sidelink resources may be associated with each additional measurement configuration message. Mapping between the resource used for an additional measurement configuration message and the associated resources for an ACK/NACK may be communicated/signaled to the WTRUs (e.g., by the network). [0371] The first WTRU may send (e.g., to the gNB) the location of the target (e.g., determined from the initial and/or additional bi/multi-static measurements), one or more initial bi/multi-static measurements, and/or one or more additional bi/multi-static measurements. Measurements may include, for example, each measurement along with the details, such as an associated JCS-RS/WTRU and/or a Tx/Rx indication used for the measurements. [0372] A network (e.g., gNB) may perform an operation to support network-controlled target localization, for example, by enabling WTRU-to-WTRU bi/multi-static measurements. The operation may include, for example, one or more of the following actions. [0373] A bi/multi-static localization assistance request message may be received from a WTRU (e.g., first WTRU) and one or more WTRUs (e.g., second WTRU, third WTRU,…, nth WTRU, etc.) may be selected to perform initial bi/multi-static measurements with the first WTRU, e.g., based on the geographic information of the first WTRU, candidate WTRUs, and the zone information of the target, which may be shared by the first WTRU. [0374] A localization request may be sent to the selected WTRUs to request to participate in the initial bi/multi-static measurements with the first WTRU. A localization request may include, for example, one or more zones of the target, a WTRU ID of the first WTRU, a (e.g., minimum) bandwidth for JCS-RS transmission, and/or uplink resources to send a response for a localization request, etc. [0375] An ACK/NACK response may be monitored for (e.g., received) from each of the WTRUs to which localization request was sent. [0376] One or more support WTRUs (e.g., second WTRU, third WTRU, etc.) may be selected out of (e.g., all) the WTRUs that sent an ACK for a localization request, to participate in initial bi/multi-static measurements with the first WTRU. [0377] Localization configuration information may be sent to the selected support WTRUs. Localization configuration information may include, for example, one or more of resources for JCS-RS transmissions, Tx power, a number of Tx-beams, a number of repetitions in each beam/direction, etc. [0378] A bi/multi-static localization assistance response may be sent to the first WTRU (e.g., within the assisted localization request retransmission duration). A bi/multi-static localization assistance response may include, for example, one or more of the following: a WTRU ID, location or zone information, WTRU capabilities, resource configuration information for JCS-RS transmission for each of the selected support WTRUs for initial bi/multi-static measurements, resource configuration information for a successful localization indication, resource configuration information for an additional measurement indication, resource configuration information for an additional measurement re-configuration request, resource configuration information for transmission of additional measurement configuration information, resource configuration information for transmission of a JCS-RS for additional measurements, and/or resource configuration information for measurement reporting. [0379] A network/gNB may deallocate resources configured to enable additional measurements for a WTRU (e.g., first WTRU). Deallocated resources may include resources for the transmission of additional measurement configuration information, transmission of a JCS-RS for additional measurements, and/or for measurement reporting. A network/gNB may use deallocated resources for one or more other purposes, for example, if (e.g., after sending a bi/multi-static localization assistance response to the first WTRU) the network/gNB receives an indication of successful localization from the first WTRU. [0380] The network/gNB may deallocate resources configured for measurement reporting, for example, to enable additional measurements for a WTRU (e.g., first WTRU). A network/gNB may send a bi/multi- static localization assistance response to the first WTRU. The network/gNB may receive (e.g., from the first WTRU) an indication of an additional measurement, for example, along with an indication that there may be no need for measurement reporting. [0381] The network/gNB may re-configure the resources for additional measurements for a WTRU (e.g., first WTRU). The network/gNB may send a bi/multi-static localization assistance response to the first WTRU. The network/gNB may receive an additional measurement re-configuration request from the first WTRU. The re-configuration may be determined, for example, based on the information received in the additional measurement re-configuration request from the first WTRU. The network/gNB may send the re- configuration information to the first WTRU, for example, in an additional measurement re-configuration response. [0382] The network/gNB may select support WTRUs (e.g., other than support WTRUs selected in a previous configuration to enable initial bi/multi-static measurements with a WTRU, such as the first WTRU), for example, if/when a bi/multi-static localization assistance request (e.g., received from the first WTRU) includes an indication that one or more (e.g., all) of the previously selected configurations are insufficient for the given target localization. [0383] Although features and elements described above are described in particular combinations, each feature or element may be used alone without the other features and elements of the preferred embodiments, or in various combinations with or without other features and elements. [0384] Although the implementations described herein may consider 3GPP specific protocols, it is understood that the implementations described herein are not restricted to this scenario and may be applicable to other wireless systems. For example, although the solutions described herein consider LTE, LTE-A, New Radio (NR) or 5G specific protocols, it is understood that the solutions described herein are not restricted to this scenario and are applicable to other wireless systems as well. For example, while the system has been described with reference to a 3GPP, 5G, and/or NR network layer, the envisioned embodiments extend beyond implementations using a particular network layer technology. Likewise, the potential implementations extend to all types of service layer architectures, systems, and embodiments. The techniques described herein may be applied independently and/or used in combination with other resource configuration techniques. [0385] The processes described herein may be implemented in a computer program, software, and/or firmware incorporated in a computer-readable medium for execution by a computer and/or processor. Examples of computer-readable media include, but are not limited to, electronic signals (transmitted over wired and/or wireless connections) and/or computer-readable storage media. Examples of computer- readable storage media include, but are not limited to, a read only memory (ROM), a random access memory (RAM), a register, cache memory, semiconductor memory devices, magnetic media such as, but not limited to, internal hard disks and removable disks, magneto-optical media, and/or optical media such as compact disc (CD)-ROM disks, and/or digital versatile disks (DVDs). A processor in association with software may be used to implement a radio frequency transceiver for use in a WTRU, terminal, base station, RNC, and/or any host computer. [0386] It is understood that the entities performing the processes described herein may be logical entities that may be implemented in the form of software (e.g., computer-executable instructions) stored in a memory of, and executing on a processor of, a mobile device, network node or computer system. That is, the processes may be implemented in the form of software (e.g., computer-executable instructions) stored in a memory of a mobile device and/or network node, such as the node or computer system, which computer executable instructions, when executed by a processor of the node, perform the processes discussed. It is also understood that any transmitting and receiving processes illustrated in figures may be performed by communication circuitry of the node under control of the processor of the node and the computer-executable instructions (e.g., software) that it executes. [0387] The various techniques described herein may be implemented in connection with hardware or software or, where appropriate, with a combination of both. Thus, the implementations and apparatus of the subject matter described herein, or certain aspects or portions thereof, may take the form of program code (e.g., instructions) embodied in tangible media including any other machine-readable storage medium wherein, when the program code is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the subject matter described herein. In the case where program code is stored on media, it may be the case that the program code in question is stored on one or more media that collectively perform the actions in question, which is to say that the one or more media taken together include code to perform the actions, but that – in the case where there is more than one single medium – there is no requirement that any particular part of the code be stored on any particular medium. In the case of program code execution on programmable devices, the computing device generally includes a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. One or more programs that may implement or utilize the processes described in connection with the subject matter described herein, e.g., through the use of an API, reusable controls, or the like. Such programs are preferably implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language, and combined with hardware implementations. [0388] Although example embodiments may refer to utilizing aspects of the subject matter described herein in the context of one or more stand-alone computing systems, the subject matter described herein is not so limited, but rather may be implemented in connection with any computing environment, such as a network or distributed computing environment. Still further, aspects of the subject matter described herein may be implemented in or across a plurality of processing chips or devices, and storage may similarly be affected across a plurality of devices. Such devices might include personal computers, network servers, handheld devices, supercomputers, or computers integrated into other systems such as automobiles and airplanes. [0389] In describing preferred embodiments of the subject matter of the present disclosure, as illustrated in the Figures, specific terminology is employed for the sake of clarity. The claimed subject matter, however, is not intended to be limited to the specific terminology so selected, and it is to be understood that each specific element includes all technical equivalents that operate in a similar manner to accomplish a similar purpose.
Next Patent: PERSONALIZED BREATH TRAINING SYSTEM