A device includes a memory and processing circuitry coupled to the memory. The processing circuitry, in operation, generates an indication of a predicted difference in a direction of arrival (DoA) of a signal using a trained autoregressive model. A predicted indication of a DoA of the signal is generated based on a previous indication of the DoA of the signal and the indication of the predicted difference in the DoA of the signal. The processing circuitry actuates or controls an antenna array based on predicted indications of the DoA of the signal.