A communication terminal may include control circuitry and an array of antenna modules. Each module may include radiators on a substrate, a lens overlapping the radiators, a transceiver chain, and switching circuitry. The control circuitry may control the switching circuitry to activate a set of one or more radiators in a given module. The control circuitry may control the transceiver chain in that module to convey signals at a selected phase using each of the active radiators. Each of the active radiators may convey the signals over signal beams oriented in different directions by the lens. The control circuitry may adjust the active radiators in each module and may adjust the selected phase for each of the modules to generate a combined signal beam in a desired direction. The combined signal beam may be generated using signals from the active radiators in two or more modules across the array.