Integrated Sensing and Communication (ISAC) is emerging as a foundational capability for 6G systems, enabling wireless networks to go beyond data transmission and actively perceive their environment. By integrating sensing and communication within shared waveforms, spectrum, and hardware, ISAC enables new applications such as localization, environmental awareness, and intelligent connectivity.

This tutorial presents a comprehensive overview of ISAC, combining system-level concepts with practical hardware prototyping workflows. It introduces key architectural principles, where shared RF front ends, antenna arrays, and OFDM-based waveforms support both communication and sensing functions. The session demonstrates how communication signals can be repurposed for sensing by extracting parameters such as range, Doppler, and direction from channel estimates.

Using representative examples, the tutorial covers communication-centric ISAC systems based on MIMO-OFDM designs, radar-centric approaches, and implementations with cellular waveforms. It highlights how these systems can detect and track targets while maintaining communication performance. The tutorial also presents practical workflows for prototyping ISAC systems on SDR platforms, including waveform generation, over-the-air transmission, capture, and post-processing. The tutorial uniquely emphasizes end-to-end workflows from system-level modeling to real-time SDR and FPGA deployment, demonstrated through practical UAV detection scenarios.