Design of high gain and high efficiency antennas is one of the key challenges in antenna engineering and especially in millimeter wave communication systems. Various types of planar waveguide arrays with series-fed traveling wave operation have been developed in Tokyo Tech with the special focus upon efficiency enhancement as well as reduction of fabrication cost. In this review, four kinds of single layer waveguide arrays characterized with the series fed travelling wave operation are surveyed first. To cope with the bandwidth narrowing effects due to long line effects associated with the series fed operation, authors have introduced partially corporate feed embedded in the single layer waveguide. They further extended the study to cover fully corporate feed arrays with multiple layer waveguide as well; a new fabrication technique of diffusion bonding of laminated thin plates has the potential to realize the low cost mass production of multi-layer structures for the millimeter wave application. Secondly, the novel methods for loss evaluation of copper plate substrate are established for the design of post-wall waveguide arrays where dielectric loss and conductor loss is determined in wide range of millimeter wave band, by using the Whispering gallery mode resonator. This enables us to design the planar arrays with the loss taken into account. Finally, the planar arrays are now applied to two kinds of systems in the Tokyo Tech millimeter wave project; the indoor short range file-transfer systems and the outdoor communication systems for the medium range backhaul links. The latter has been field-tested in the model network built in Tokyo Tech Ookayama campus. Early stage progress of the project including unique propagation data is also reported.