An antenna comprises a substantially circular ground plane with an upper surface and a defined center. A plurality of radiating elements are placed radially on the upper surface, arranged at constant angles around the defined center to, when electrically excited, create a plurality of circularly polarized electromagnetic emissions. Each radiating element of the plurality of radiating elements is in electrical communication with an electromagnetic source via an electrically conductive feed, the electromagnetic source configured, when in use, to create a radial excitation current on the radiating element, and further configured, when in use, to provide phase and amplitude control of the excited current on the radiating element for both beam forming and 360 degree beam steering by superposing omnidirectional circularly polarized electromagnetic emissions.