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This paper considers the design of both a transmitter and a receiver for noncoherent communication over a frequency-flat, richly scattered multiple-input multiple-output (MIMO) channel. The design is guided by the fact that at high signal-to-noise ratios (SNRs), the ergodic capacity of the channel can be achieved by input signals that are isotropically distributed on the (compact) Grassmann manifold. The first part of the paper considers the design of Grassmannian constellations that MIMIC the isotropic distribution. A subspace perturbation analysis is used to determine an appropriate metric for the distance between Grassmannian constellation points, and using this metric, greedy, direct and rotation-based techniques for designing constellations are proposed. These techniques offer different tradeoffs between the minimum distance of the constellation and the design complexity. In addition, the rotation-based technique results in constellations that have lower storage requirements and admit a natural ldquoquasi-set-partitioningrdquo binary labeling.