Described here is how the RELAX algorithm, recently proposed for tempo
ral spectral analysis, can be extended to the spatial problem of angle
and waveform estimation for both narrowband and wideband plane waves
arriving at a uniform linear array (ULA). Both numerical and experimen
tal examples are used to demonstrate the performance of the RELAX algo
rithm and compare the performance of RELAX I with that of other well-k
nown algorithms including ESPRIT with forward/backward spatial smoothi
ng, MODE/WSF, and AP/ANPA for narrowhand signals, and CSM-ESPRIT for w
ideband signals.