Internet of Things (IoT) applications require AQ:1 1 orientation insensitive wireless devices to maintain stable and 2 reliable communication as well as the localization capability 3 using the global positioning system (GPS). For those reasons, 4 antennas providing near-isotropic radiation pattern with wide 5 circular polarization (CP) coverage are high in demand for IoT AQ:2 6 applications. In this work, we derive conditions for 3-D antenna 7 on package (AoP), through a combination of three orthogonal 8 dipoles model and particle swarm optimization (PSO) technique 9 to achieve near-isotropic radiation pattern and wide CP coverage 10 simultaneously. Design guidelines have been provided, and a 11 practical AoP has been designed on a 3-D cube package by 12 following this guideline. A prototype has been fabricated and 13 the measured results demonstrate an isotropy of ∼93% and 14 CP coverage of ∼18%, which matches well with the predicted 15 results from the theoretical analysis as well as the full-wave 16 electromagnetic simulations. 17 Index Terms-Circularly polarized antenna, near-isotropic 18 radiation pattern, orientation insensitive antenna. 19 I. INTRODUCTION 20 I NTERNET of Things (IoT) will bring connectivity to the 21 next level, where billions of smart devices to be designed 22 for making decisions for a large number of applications in an 23 automated fashion. These huge numbers of IoT devices will 24 depend on high speed and uninterrupted wireless communica-25 tion for their smooth functioning. Thus, a new generation of 26 antennas is required which are space-efficient, low cost, and 27 orientation insensitive in terms of stable performance. Low 28 cost and efficient space can be achieved through the antenna-29 on-package (AoP) concept.