  Position error is treated as the leading obstacle that prevents Rydberg
antiblockade gates from being experimentally realizable, because of the
inevitable fluctuations in the relative motion between two atoms invalidating
the antiblockade condition. In this work we report progress towards a
high-tolerance antiblockade-based Rydberg SWAP gate enabled by the use of {\it
modified} antiblockade condition combined with carefully-optimized laser
pulses. Depending on the optimization of diverse pulse shapes our protocol
shows that the amount of time-spent in the double Rydberg state can be
shortened by more than $70\%$ with respect to the case using {\it perfect}
antiblockade condition, which significantly reduces this position error.
Moreover, we benchmark the robustness of the gate via taking account of the
technical noises, such as the Doppler dephasing due to atomic thermal motion,
the fluctuations in laser intensity and laser phase and the intensity
inhomogeneity. As compared to other existing antiblockade-gate schemes the
predicted gate fidelity is able to maintain at above 0.91 after a very
conservative estimation of various experimental imperfections, especially
considered for realistic interaction deviation of $\delta V/V\approx 5.92\%$ at
$T\sim20$ $\mu$K. Our work paves the way to the experimental demonstration of
Rydberg antiblockade gates in the near future.
