A method comprising: transmitting, by a wireless power transmitter, to a plurality of segments of a transmission field sequentially, a respective exploratory power wave and a respective communications signal for each respective segment in the transmission field, wherein each respective communications signal transmitted to each respective segment contains data indicating a respective segment to which a respective exploratory power wave is transmitted, wherein the wireless power transmitter comprises: an array of one or more antennas configured to transmit the respective exploratory power waves; and a communications component configured to communicate the respective communications signals to one or more receivers; upon receiving a response message from a receiver indicating that the receiver received one of the respective exploratory power waves within a first segment of the transmission field: transmitting, by the wireless power transmitter, sequentially to one or more sub-segments of the first segment, a respective additional exploratory power wave and a respective additional communications signal, for each respective sub-segment in the first segment, wherein each respective additional communications signal transmitted to each respective sub-segment contains data indicating a respective sub-segment to which a respective additional exploratory power wave is transmitted; upon receiving a subsequent response message from the receiver indicating that the receiver received one of the respective additional exploratory power waves at a first location within a first sub-segment in the first segment: determining, by the wireless power transmitter, a set of one or more characteristics of power waves to transmit to the receiver at the first location; and generating, by the wireless power transmitter, the power waves having the one or more characteristics to form a constructive interference pattern at the first location within the first sub-segment in the first segment. transmitting, by a wireless power transmitter, to a plurality of segments of a transmission field sequentially, a respective exploratory power wave and a respective communications signal for each respective segment in the transmission field, wherein each respective communications signal transmitted to each respective segment contains data indicating a respective segment to which a respective exploratory power wave is transmitted, wherein the wireless power transmitter comprises: an array of one or more antennas configured to transmit the respective exploratory power waves; and a communications component configured to communicate the respective communications signals to one or more receivers; an array of one or more antennas configured to transmit the respective exploratory power waves; and a communications component configured to communicate the respective communications signals to one or more receivers; upon receiving a response message from a receiver indicating that the receiver received one of the respective exploratory power waves within a first segment of the transmission field: transmitting, by the wireless power transmitter, sequentially to one or more sub-segments of the first segment, a respective additional exploratory power wave and a respective additional communications signal, for each respective sub-segment in the first segment, wherein each respective additional communications signal transmitted to each respective sub-segment contains data indicating a respective sub-segment to which a respective additional exploratory power wave is transmitted; upon receiving a subsequent response message from the receiver indicating that the receiver received one of the respective additional exploratory power waves at a first location within a first sub-segment in the first segment: determining, by the wireless power transmitter, a set of one or more characteristics of power waves to transmit to the receiver at the first location; and generating, by the wireless power transmitter, the power waves having the one or more characteristics to form a constructive interference pattern at the first location within the first sub-segment in the first segment. determining, by the wireless power transmitter, a set of one or more characteristics of power waves to transmit to the receiver at the first location; and generating, by the wireless power transmitter, the power waves having the one or more characteristics to form a constructive interference pattern at the first location within the first sub-segment in the first segment.