A resistively-loaded printed dipole antenna is modeled and the relevant circuital and radiation properties analyzed thoroughly. The optimal resistive loading is determined in order to achieve a wideband input impedance matching. Then, the electromagnetic characteristics of the individual antenna in terms of radiation efficiency and surface footprint are investigated thoroughly for different types of soil. Emphasis is put on the full-wave analysis of the antenna performance in pair configuration for different Tx-Rx separations and elevations over the ground, as well as on the analysis of the electromagnetic scattering from dielectric and metallic pipes buried at different depths and with different diameters.