I. Introduction
Orthogonal frequency division multiplexing (OFDM) is the physical-layer modulation scheme deployed in 4G and 5G mobile systems, where the wireless channel typically exhibits time-varying multipath fading due to mobility. OFDM is known to achieve a near-capacity performance over such channels when the Doppler effect is limited [1]–[3], but suffers from severe performance degradation in high-mobility environments [4]. Hence, new modulation techniques that are robust in both slow and fast time-varying channels are needed.