A completely new radar architecture is proposed with the goal of sensing accurately the azimuth and elevation of many targets, in a highly cluttered environment, with a high field of view.  This proposal does away with beamforming altogether, and instead has a sparse array of Multiple Outs.  Many different antennas multilaterate the target positions.  This requires solving a combinatorial puzzle about which hits came from which targets.  The algorithm solves this puzzle, even for more than a hundred targets.  This is a general radar architecture, but it’s designed with Autonomous Vehicles heavily in mind.  Simulated results look promising.