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Waveform-agile sensing is fast becoming an important technique for improving sensor performance in applications such as radar, sonar, biomedicine, and communications. The paper provided an overview of research work on waveform-agile target tracking. From both control theoretic and information theoretic perspectives, waveforms can be selected to optimize a tracking performance criterion such as minimizing the tracking MSE or maximizing target information retrieval. The waveforms can be designed directly based on their estimation resolution properties, selected from a class of waveforms with varying parameter values over a feasible sampling grid in the time-frequency plane, or obtained from different waveform libraries.