I. Introduction
It is envisioned that the fifth-generation (5G) cellular communication systems will provide massive connectivity for machine-type communications (mMTC) [1], [2]. MMTC is able to support the diverse Internet of Things (IoT) applications such as environmental sensing, smart manufacturing and smart farming. Compared with conventional human-centric communication, mMTC IoT communications have two distinctive characteristics: (i) there are a massive number of machine-type connections; (ii) only a small and random fraction of the devices are active at any given instant. To accommodate these communication characteristics, grant-free random access schemes are proposed as promising solutions to enable massive connectivity with low-latency in mMTC 5G IoT networks [3]. In grant-free schemes, each active device directly transmits its identity and data to the based station (BS) without waiting for any permission, and the non-orthogonal pilot sequences are used to identify active users and estimate the corresponding channels [4], [5].