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This paper presents EARA-QoS, a improved version of swarm-intelligence inspired ad hoc routing algorithm EARA introduced in (Z. Liu et al., 2004). In this algorithm, we use the principle of swarm intelligence to evolutionally maintain routing information. The biological concept of stigmergy is used to reduce the amount of control traffic. A light-weight QoS scheme is proposed to provide service-classified traffic control. The simulation results show that this novel routing algorithm performs well in a variety of network conditions.