diff --git a/src/common/adapter_manager.rs b/src/common/adapter_manager.rs
index 7da91d66..cac07030 100644
--- a/src/common/adapter_manager.rs
+++ b/src/common/adapter_manager.rs
@@ -58,12 +58,27 @@ where
         Box::pin(BroadcastStream::new(receiver).filter_map(|x| async move { x.ok() }))
     }
 
+    /// Idempotent: keeps the peripheral already in the map, if any.
+    ///
+    /// Was an `assert!` + `insert`. That is a check-then-act pair on a
+    /// concurrent `DashMap`, and the callers that reach it are inherently
+    /// racy — droidplug's `Adapter::report_scan_result` looks a peripheral
+    /// up, finds nothing, and then adds, with no lock held across the two
+    /// steps. Two scan results for the same device (which is what starting a
+    /// second scan on the process-global adapter produces) could both take
+    /// the `None` branch and the second `add` would abort the process.
+    ///
+    /// A panic here is especially hard to diagnose because the callers are
+    /// spawned tasks: Tokio stores the payload in the `JoinHandle` nobody
+    /// joins, and on Android the default hook writes to stderr, which is not
+    /// in logcat — so the symptom is a task that silently stops existing.
+    ///
+    /// Keeping the existing entry (rather than replacing it) is deliberate:
+    /// it may already carry connection state and characteristics that a
+    /// freshly constructed wrapper for the same address would not.
     pub fn add_peripheral(&self, peripheral: PeripheralType) {
-        assert!(
-            !self.peripherals.contains_key(&peripheral.id()),
-            "Adding a peripheral that's already in the map."
-        );
-        self.peripherals.insert(peripheral.id(), peripheral);
+        let id = peripheral.id();
+        self.peripherals.entry(id).or_insert(peripheral);
     }
 
     pub fn clear_peripherals(&self) {
diff --git a/src/droidplug/adapter.rs b/src/droidplug/adapter.rs
index 36d49e61..2a82d6a6 100644
--- a/src/droidplug/adapter.rs
+++ b/src/droidplug/adapter.rs
@@ -87,11 +87,25 @@ impl Adapter {
     }
 
     fn add(&self, address: BDAddr) -> Result<Peripheral> {
+        // Fast path: another scan result for this address may have added it
+        // between our caller's lookup and here. Returning the instance the
+        // map already holds — rather than a second wrapper for the same
+        // address — keeps `report_properties` writing to the peripheral
+        // everyone else will later read.
+        if let Some(existing) = self.manager.peripheral(&PeripheralId(address)) {
+            return Ok(existing);
+        }
         jvm()?.attach_current_thread(|env| {
             let local_adapter = env.new_local_ref(self.internal.as_obj())?;
             let peripheral = Peripheral::new(env, local_adapter, address)?;
             self.manager.add_peripheral(peripheral.clone());
-            Ok(peripheral)
+            // `add_peripheral` is idempotent, so if we lost the race the map
+            // kept the winner; hand that back rather than our now-orphaned
+            // wrapper.
+            Ok(self
+                .manager
+                .peripheral(&PeripheralId(address))
+                .unwrap_or(peripheral))
         })
     }