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In this article, the different challenges and open issues regarding WPT systems have been presented considering both the transmitting and receiving ends. The challenges in the receiving side include the accurate modeling of the rectifying elements, the adequate selection of the rectifier topology, and the joint optimization of antenna and rectifier circuit. The challenges in the transmitting side are mainly in the improvement of the dc-to-RF conversion efficiency and in the selection of the optimum transmitted signal waveform. The final goal of most of these challenges is to take advantage of the nonlinear nature of the rectifying elements in order to maximize the RF-to-dc conversion efficiency in the receiving end of WPT systems.