# SenseSwarm: Accelerating Robot Swarm Mapping with Neural Structure Estimation and Shared World Anticipation

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/e42yqubufilm668qxqu7shfmw
- Original: https://arxiv.org/abs/2610.22905

## Summary

SenseSwarm runs a lightweight 709K-parameter map predictor on the swarm's shared occupancy map and folds the predicted structure back into a stigmergy-based guidance field, fine-tuning it on the swarm's own multi-front observations; a single-robot predictor fails on such views.