  Underwater robotics addresses the problem of object detection apparatus.
Offers a probabilistic formulation of the problem, which uses the reduction of
the detection task to a classical task of Buffon. This formulation arises
naturally in the formulation of the problem in the coordinate system associated
with the apparatus. It is shown that the problem allows analysis in the
presence of an asymptotic parameter, determined by the ratio of the local scan
size of the apparatus to the global size of the problem under consideration.
