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This paper concerns with the sensor management problem in collocated Multiple-Input Multiple-Output (MIMO) radars. After deriving the Cramer-Rao Lower Bound (CRLB) as a performance measure, the antenna allocation problem is formulated as a standard Semi-definite Programming (SDP) for the single-target case. In addition, for multiple unresolved target scenarios, a sampling-based algorithm is proposed to deal with the non-convexity of the cost function. Simulations confirm the superiority of the localization results under the optimal structure.

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