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The paper presents a distributed slots reservation protocol (DSRP) for QoS routing on TDMA-based mobile ad hoc networks. According to one-hop neighboring information, slot decision policy (SDP) is proposed to select the time slots in order to construct a route satisfying the QoS requirement. The hidden-terminal and exposed-terminal problems are solved as well. In addition, a slot adjustment mechanism is proposed to adjust the slots in a mobile host if a slot conflict occurs in the reservation period. Route maintenance is also provided to maintain a route when the network topology is changed. By the simulation results, the proposed protocol can not only increase the search of a route with bandwidth requirement guaranteed but also raise the throughput and efficiency of the network.