Abstract: The present invention reports a spectrally efficient low complex OFTS modulation based communication system and method for resource-constrained IoT device and M2M type communication in high-mobility environment comprising at least one transmitter configured to transmit bit stream involving adaptive OTFS frame with selectively embedded pilot depending on mobility condition for improving spectral efficiency and at least one receiver configured to dispose onto IoT devices with a low-complex iterative detector for receiving thus transmitted bit stream. The receiver is configured to update the transmitter about its mobility condition through a control channel.