arXiv:2604.17582v2 Announce Type: replace Abstract: This paper develops an active sensing framework for designing the transmit and receive beamformers of a multiple-input multiple-output (MIMO) radar system with a limited number of radio-frequency (RF) chains. In the proposed framework, the transmit and receive beamformers are adaptively designed in each sensing stage based on the measurements made in the previous sensing stages, and the optimization of the beamformers are based on the minimization of the Bayesian Cram{\'e}r-Rao bound (BCRB) for estimating the unknown sensing parameters. To address the exploration-exploitation tradeoff inherent in such an adaptive procedure, this paper proposes a two-phase design involving two variants of the BCRB optimization problem: an exploration-centric variant that requires multiple orthogonal beamforming directions to be probed in each sensing stage, followed by an exploitation-centric variant that optimizes the per-stage BCRB without such requirement. For both variants, the transmit and receive beamformers are optimized as two subproblems in an alternating fashion in each sensing stage. The alternating optimization is shown to converge to a stationary point of the per-stage BCRB optimization provided that each subproblem is solved to global optimality. A main contribution of this paper is to determine sufficient conditions under which global optimality can be guaranteed---despite that the two subproblems are nonconvex (due to the limited number of RF chains), by studying the structures of their optimal solutions via Lagrangian dual analysis. The conditions pertain to the multiplicity of the eigenvalues of specific direction matrices that can be analytically written in terms of the optimal dual variables. Simulation results demonstrate the advantages of the proposed design framework as compared to state-of-the-art adaptive beamforming strategies.