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They come in 2 forms. One is just a sphere on the ground that is the highest white intensity your monitor supports; can't miss it. The other is a weird looking plant that you can interact with, the plant is nearly spherical, usually green, and has a knob on a string floating out of it.
You can grab a lot in a short time but the sentinels are annoying, they are a low value item that is super easy to grow with a fast grow time, so its sort of pointless to try to seek them out. Eventually youll get to see them if thats on your bucket list, but otherwise, just grow a few.
They don't always shoot on sight -- dunno if its bugged or if its flavor from the scanned what that sentinel is doing atm text -- but more or less, expect nonstop sentinels + the big ones if you take any.
Oh, and sentinels will converge if you touch any of those gravatino balls, so be ready to run or fight.
There is a higher likelyhood of finding exotic items on those planets. The Gravitino Balls used to be high in value, but not anymore. The sentinels still protect them, though. Usually the drones will follow you around or take shots at you for no reason. If you take a ball you immediately go up on the alert list and dogbot's and even striders will come after you. Taking them out can raise your wanted level to five and then the sentinel starships will be waiting for you to take off.
If you see drones with red lenses and exhausts then you are on a high security planet and they will shoot on sight.
I have run into these on a regular basis but they are a bit rare. As other posters note, there is usually a bettter chance of finding more unique resources and better blueprints in addition to gravitino balls and the like. The sentinels attack at the drop of a hat so keep moving.
I have pretty much maxed out, so these planets are very annoying unless I am in the mode to play with the sentinels.
Best defense tip is to camp on high locations when you just want to look around. They will still find you but takes them longer (usually). As noted above, kill them quick to avoid ramping up wanted level. I play normal, so probably best advice is to find another planet if you are playing in one of the more severe modes.
Having angry Sentinels adds a challenge if you are searching for all the animals on the planet.
NOT without a FISA Warrant...
... uuummm'er?... oh,wait! ... ~ ... wut?!...
(thanks obama :)