A method includes receiving, from a second device, a signal using each beam of a first subset of beams of a beam set arranged in a layout, measuring a beam quality of the signal received using each beam of the first subset of beams, estimating a beam quality of the signal for each beam of a second subset of beams of the beam set, the first subset of beams and the second subset of beams comprising different beams, and the estimating being in accordance with the measured signal quality of the first subset of beams, selecting a beam from the beam set, selecting the beam being in accordance with the measured beam quality and the estimated beam quality, and communicating, with the second device, using the beam.