In some implementations, a method of wireless communication includes transmitting, from an initiator of a positioning reference signal (PRS) group to other members of the PRS group, an indication of access to a wireless channel for the PRS group. The method further includes broadcasting a first PRS via each antenna beam of a plurality of antenna beams. An antenna array of the initiator is configured to communicate via the plurality of antenna beams. Other aspects and features are also claimed and described.