There is provided a mmWave RTLS (Real-Time Location Sensing) system for detecting the presence of one or more objects. The system includes multiple anchors. Each anchor includes a mmWave radar subsystem that uses radar algorithms to detect one or more objects and determine the one or more location-based objects characteristics. The location-based object characteristics include one or more of the following: range, direction-of-arrival, velocity, absolute position, or logical position, each determined relative to one or more anchors.