# SPACE: Adaptive Collision-Aware Swarm Exploration Based on Pheromone Fields

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/j6xgme43ha1s7glhfhfvvk4du
- Original: https://arxiv.org/abs/2606.29372

## Summary

SPACE is a swarm exploration method inspired by ant foraging. On a synchronized shared map, it maintains an attractive frontier pheromone, a repellent exploration pheromone, and a fast robot-density field, providing local field guidance for robots. The authors evaluated it on sixteen home layouts from HouseExpo and eight campus floors from KTH, using up to two hundred fifty-six robots. At congested swarm sizes, SPACE achieved the lowest inter-robot contact rate on HouseExpo and lay on the empirical Pareto frontier on KTH.