Systems and methods are disclosed herein for Wireless Power Transfer (WPT) using radiative coupling and dynamic beamforming. In some embodiments, a method of operation of an Energy Transmitter (ET) comprises, for each time period (TPi) of a plurality of time periods ({TPi}i=0,1, . . . , I-1), for each time slot (TSi,j) of one or more time slots ({TSi,j}j=0,1, . . . , J-1), transmitting, during TSi,j of TPi on a frequency fmod(i,2), a radio frequency signal (ST(i,j)) that is modulated with a signature of a particular Energy Harvester (EH). The method further comprises, for each TPi, attempting, during TPi, to receive, from the particular EH on a frequency fmod(i+1,2), a radio frequency signal (SR(i)) that is modulated with the signature of the particular EH. In this manner, continuous WPT is provided. Corresponding embodiments of an ET are also disclosed. Embodiments of a method performed by an EH and corresponding embodiments of an EH are also disclosed.