A method in a wireless power transmission system, the method comprising: determining, by a transmitter (101a, 101b) that includes at least two antenna arrays (1902, 1904), one or more parameters indicated by sensor data and heat-map data, the one or more parameters associated with a location of a wireless power receiver within a transmission field of the transmitter; determining, by the transmitter, an output frequency for transmitting power waves (135, 1104) by the transmitter based on the one or more parameters; selecting, by the transmitter, a desired spacing distance between the at least two antenna arrays (1902, 1904) of the transmitter based upon the one or more parameters, the desired spacing distance selected so that the power waves, when transmitted by the at least two antenna arrays, constructively interfere to form a pocket of energy (137, 1106) at the location of the wireless power receiver, wherein the pocket of energy refers to a region of space where energy or power accumulates based on a convergence of the power waves causing the constructive interference at that region; adjusting, by the transmitter, respective positions of one or more antenna arrays of the at least two antenna arrays (1902, 1904) within the transmitter so that the at least two antenna arrays are separated by the desired spacing distance; and while the at least two antenna arrays are separated by the desired spacing distance, transmitting, by the at least two antenna arrays of the transmitter, the power waves using the output frequency into the transmission field to form the pocket of energy at the location of the wireless power receiver, wherein the wireless power receiver is configured to use energy from the pocket of energy to provide power or charge to an electronic device that is coupled with the wireless power receiver. determining, by a transmitter (101a, 101b) that includes at least two antenna arrays (1902, 1904), one or more parameters indicated by sensor data and heat-map data, the one or more parameters associated with a location of a wireless power receiver within a transmission field of the transmitter; determining, by the transmitter, an output frequency for transmitting power waves (135, 1104) by the transmitter based on the one or more parameters; selecting, by the transmitter, a desired spacing distance between the at least two antenna arrays (1902, 1904) of the transmitter based upon the one or more parameters, the desired spacing distance selected so that the power waves, when transmitted by the at least two antenna arrays, constructively interfere to form a pocket of energy (137, 1106) at the location of the wireless power receiver, wherein the pocket of energy refers to a region of space where energy or power accumulates based on a convergence of the power waves causing the constructive interference at that region; adjusting, by the transmitter, respective positions of one or more antenna arrays of the at least two antenna arrays (1902, 1904) within the transmitter so that the at least two antenna arrays are separated by the desired spacing distance; and while the at least two antenna arrays are separated by the desired spacing distance, transmitting, by the at least two antenna arrays of the transmitter, the power waves using the output frequency into the transmission field to form the pocket of energy at the location of the wireless power receiver, wherein the wireless power receiver is configured to use energy from the pocket of energy to provide power or charge to an electronic device that is coupled with the wireless power receiver.