A proof-of-concept nondestructive testing and Evaluation (NDT&E) technique using millimeter-wave electromagnetic sensing is proposed. The method is based on a free-space millimeter-wave characterization instrumentation interfaced with collaborative mobile robots. In particular, 60 GHz emitter and scalar transceiver are mounted on two mobile robots controlled and positioned on either side of the structure under investigation. Planar dielectric materials are preliminary characterized to demonstrate the viability of the proposed approach. This feasibility study is beneficial for future investigation devoted to the implementation of vector measurement instrumentation on the robotic platform.