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A method of operating a frequency modulated continuous-wave radar can include transmitting CHIRP signals from a plurality of antennas of the frequency modulated continuous-wave radar, receiving, via the plurality of antennas, signals including asynchronously modulated retro-directive signals from at least one remote radio frequency tag generated responsive to the CHIRP signals, generating difference Intermediate Frequency signals from the CHIRP signals transmitted and the signals received, and performing a first transform operation on the difference Intermediate Frequency signals to detect occurrence of the asynchronously modulated retro-directive signals in the difference Intermediate Frequency signals.