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The four dimensional (4D) antenna arrays introduce a fourth dimension, time, into conventional antenna arrays to offer greater flexibility in the design of high performance antenna arrays. This paper presents the tutorial on the study of 4D antenna arrays and the review of the recent research findings on 4D antenna arrays. Issues considered include the theory of 4D antenna arrays, different time modulation schemes, numerical simulation results, and some experimental results on their applications to low sidelobe designs. Throughout the discussion, some challenging issues on the study of 4D antenna arrays are highlighted.