An autonomous mobile cleaning robot , comprising: a radar sensor configured to scan a surface , during a movement of the robot along the surface, by transmitting radar signals towards the surface and acquiring, at different positions along said movement, radar responses from the surface, a radar signal processor configured to extract one or more features of each acquired radar response from the surface, and a controller configured to control an operation of the robot based on the extracted one or more features, wherein the radar signal processor is configured to extract an amplitude of each acquired radar response, wherein the controller is configured to, in response to an oscillatory variation of the extracted amplitudes of radar responses acquired during at least a part of the movement, output at least one of a control command adapted to cause the robot to change a movement or a control command adapted to cause the robot to change a cleaning mode, wherein the controller is configured to output said control command on a condition that said oscillatory variation includes: a first oscillatory variation, with a frequency within a first frequency band, of the extracted amplitudes of radar responses acquired during a first part of the movement, and a second oscillatory variation, with a frequency within a second frequency band being lower than the first frequency band, of the extracted amplitudes of radar responses acquired during a second part of the movement subsequent to the first part of the movement. a radar sensor configured to scan a surface , during a movement of the robot along the surface, by transmitting radar signals towards the surface and acquiring, at different positions along said movement, radar responses from the surface, a radar signal processor configured to extract one or more features of each acquired radar response from the surface, and a controller configured to control an operation of the robot based on the extracted one or more features, wherein the radar signal processor is configured to extract an amplitude of each acquired radar response, wherein the controller is configured to, in response to an oscillatory variation of the extracted amplitudes of radar responses acquired during at least a part of the movement, output at least one of a control command adapted to cause the robot to change a movement or a control command adapted to cause the robot to change a cleaning mode, wherein the controller is configured to output said control command on a condition that said oscillatory variation includes: a first oscillatory variation, with a frequency within a first frequency band, of the extracted amplitudes of radar responses acquired during a first part of the movement, and a second oscillatory variation, with a frequency within a second frequency band being lower than the first frequency band, of the extracted amplitudes of radar responses acquired during a second part of the movement subsequent to the first part of the movement. a first oscillatory variation, with a frequency within a first frequency band, of the extracted amplitudes of radar responses acquired during a first part of the movement, and a second oscillatory variation, with a frequency within a second frequency band being lower than the first frequency band, of the extracted amplitudes of radar responses acquired during a second part of the movement subsequent to the first part of the movement. <EOS>