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Multiple-input multiple-output (MIMO) radar has been shown to provide enhanced performance in theory and in practice. MIMO radars are equipped with the ability to freely choose their transmitted waveforms at each aperture. In conventional radar systems Woodward's ambiguity function is used to characterize waveform resolution performance. In this paper we extend the idea of waveform ambiguity functions to MIMO radars. MIMO ambiguity functions are developed that simultaneously characterize the effects of array geometry and transmitted waveforms on resolution performance. Overall resolution performance is shown to be governed by a space- time covariance function that can be controlled by the system on transmit using waveform diversity. Visual examples are provided to illustrate the resolution enhancement possible using MIMO technology.