## 7 Conclusions and Future Work  
In this article, we proposed single-slot and dual-slot ISAL network models and provide the derivation of fundamental limits in synchronous and asynchronous networks, respectively. For the optimization allocation of energy and power in the resource-constrained networks, this article proposed two optimization schemes--a step-by-step scheme and an integrated scheme--and provided solutions from the perspective of energy optimization allocation to solve the problem of the high time complexity of the step-by-step scheme. In addition, we also summarized the suitable scenarios for the step-by-step scheme and the integrated scheme by comparing the optimization results of networks with different topologies. From the simulation results, we drew the following regular conclusions: (i) in the sensing-resource-limited networks with uniformly distributed nodes, in order to reduce the time complexity of the step-by-step scheme, we can allocate energy for each step as energy for clock offset \(<\) energy for radar localization \(<\) energy for target sensing, thereby reducing the time of traversal; (ii) in the multi-slot ISAL networks, when optimizing the sum of sensing SPEBs in multiple time slots, more energy will be allocated to the sensing-resource-limited time slots; and (iii) the step-by-step optimization scheme is more suitable for the sensing-resource-abundant networks, while the integrated optimization scheme is more suitable for the sensing-resource-limited networks. The regular conclusions summarized in this article provide valuable theoretical references for resource allocation in practical ISAL networks. For future study, there are mainly two research directions to extend. Firstly, in this article, our work only focuses on the theoretical simulation, aiming to demonstrate the theoretical feasibility of the proposed schemes, but it has not yet been validated in realistic environments through experiments. Secondly, the current state of the art of research in this area tends to introduce antenna array for radar positioning and target sensing. Its ability to simultaneously obtain TOA and AOA means it has higher positioning and sensing accuracy compared to the traditional single transmitter and receiver antennas. In this article, we only studied the fundamental limits and resource allocation schemes when each of the radars and anchors has a single transmitter and receiver antenna, but we have not yet extended our research to the antenna array. These two aspects are of great importance for further improving the work in this article. Conceptualization, R.Z., Y.B. and T.Z. ; methodology, R.Z. and J.Y. ; software, R.Z. and M.J.; validation, J.Y., Y.B. and T.Z. ; formal analysis, R.Z. and J.Y. ; investigation, R.Z. and M.J.; resources, Y.B. ; data curation, R.Z. ; writing--original draft preparation, R.Z. ; writing--review and editing, R.Z., T.Z., J.Y., M.J. and Y.B. ; visualization, R.Z. ; supervision, T.Z. and Y.B. ; project administration, T.Z. ; funding acquisition, Y.B. All authors have read and agreed to the published version of the manuscript. Figure 13: SPEB comparison between the step-by-step scheme and the integrated scheme using signals with different bandwidths. (**a**) Using a 500 MHz UWB signal. (**b**) Using a 5 MHz signal. **Funding:** This paper was supported by the Natural Science Foundation of China under Grant No. 62171160, and the Fundamental Research Funds for the Central Universities under Grant No. HIT. OCEF. 2022055, and the Shenzhen Science and Technology Program under Grant No. KJZD20231023093055002, No. KJZD20230923114804009 and ZDSYS20210623091808025, and also major project of PCL. **Institutional Review Board Statement:** Not applicable. **Informed Consent Statement:** Not applicable. **Data Availability Statement:** The data presented in this study are available on request from the corresponding author. The data are not publicly available due to restrictions of privacy.