Abstract This paper considers minimizing the time required to collect L bits from each Radio Frequency (RF)-energy harvesting device serviced by a multi-antenna Hybrid Access Point (HAP). We outline a Mixed Integer Non-Linear Program (MINLP) to determine the transmit power allocation of the HAP and devices over multiple time slots. We also outline a Receding Horizon Control (RHC) approach coupled with a Gaussian Mixture Model (GMM) to optimize the transmit power allocation of the HAP. Our results show that the performance of our approach is within 5% of the optimal solution. Open Access Status