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Compressed sensing techniques make it possible to exploit the sparseness of radar scenes to potentially improve system performance. In this paper compressed sensing tools are applied to MIMO radar to reconstruct the scene in the azimuth-range-Doppler domain. Conditions are derived for the radar waveforms and the transmit and receive arrays so that the radar sensing matrix has small coherence and sparse recovery becomes possible. Theoretical performance bounds are presented and validated by numerical simulations.