A modulated metasurface antenna (302) having an operating wavelength comprises a surface wave propagation medium (304) and an array (308) of surface wave transducers (309) in the surface wave propagation medium (304). The surface wave transducers (309) are spaced from each other by a minimum distance greater than half the operating wavelength. The surface wave transducers (309) are separately couplable with a phased array circuit (303). The surface wave propagation medium (304) has an electromagnetic surface impedance distribution defining respective embedded element patterns for respective surface wave transducers (309) in the array (308) of surface wave transducers. The electromagnetic surface impedance distribution is adapted so that the respective embedded element patterns defined thereby attenuate grating lobes in the radiation pattern of the modulated metasurface antenna (302).