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The Tykes had made the long journey down South on the back of four successive victories.
In a hot streak of form, Lee Johnson's side were keen to add another scalp to their list and further press their way up the League One table.
The game remained at a deadlock until the dying moments, when a lapse in concentration from Swindon allowed Barnsley full-back George Williams to whip in a cross, which was in turn met and finished by striker Sam Winnall past a stranded Lawrence Vigouroux.
The 1-0 defeat means Barnsley have done the double over the Robins this season, after handing out a 4-1 drubbing to then Mark Cooper's side back in September.
Watch the best of the highlights below, courtesy of Swindon Town YouTube:
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