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Routing protocols for mobile ad hoc networks (MANETs) have been explored extensively in recent years. Much of this work is targeted at finding a feasible route from a source to a destination without considering current network traffic or application requirements. Therefore, the network may easily become overloaded with too much traffic and the application has no way to improve its performance under a given network traffic condition. While this may be acceptable for data transfer, many real-time applications require quality-of-service (QoS) support from the network. We believe that such QoS support can be achieved by either finding a route to satisfy the application requirements or offering network feedback to the application when the requirements cannot be met. We propose a QoS-aware routing protocol that incorporates an admission control scheme and a feedback scheme to meet the QoS requirements of real-time applications. The novel part of this QoS-aware routing protocol is the use of the approximate bandwidth estimation to react to network traffic. Our approach implements these schemes by using two bandwidth estimation methods to find the residual bandwidth available at each node to support new streams. We simulate our QoS-aware routing protocol for nodes running the IEEE 802.11 medium access control. Results of our experiments show that the packet delivery ratio increases greatly, and packet delay and energy dissipation decrease significantly, while the overall end-to-end throughput is not impacted, compared with routing protocols that do not provide QoS support.