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Since Kelly's pioneering work on GLRT-based adaptive detection, many solutions have been proposed to enhance either selectivity or robustness of radar detectors to mismatched signals. In this paper such a problem is addressed in a different space, called CFAR feature plane and given by a suitable maximal invariant, where observed data are mapped to clusters that can be analytically described. The characterization of the trajectories and shapes of such clusters is provided and exploited for both analysis and design purposes, also shedding new light on the behavior of several well-known detectors. Novel linear and non-linear detectors are proposed with diversified robust or selective behaviors, showing that through the proposed framework it is not only possible to achieve the same performance of well-known receivers obtained by a radically different design approach (namely GLRT), but also to devise …