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The second edition of this popular text covers a wide range of interrelated topics in array processing to provide an accessible introduction to the field. It reviews new developments in the use of sensors in wireless networks and in the use of distributed sensors for localization. It focuses on the common threads that exist in wavefield analysis, rather than on particular applications. Following an introduction to the basic equations governing different wavefields, the text examines current topics of interest, including distributed sensor array, multi-component sensors, space-time processing, azimuth/elevation estimation, wideband adaptive beamformation, and frequency invariant beamformation.