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We propose a new protocol, named DS-SWAN (differentiated services-stateless wireless ad hoc networks), to support end-to-end QoS (quality of service) in ad hoc networks connected to fixed DiffServ domains. DS-SWAN warns nodes in the ad hoc network when congestion is excessive for the correct functioning of real-time applications. These nodes react by slowing down best-effort traffic. Furthermore, we present a routing protocol for the ad hoc network, named SD-AODV (service differentiation-ad hoc on-demand distance vector), where new route requests are suppressed at certain nodes to maintain the desired QoS requirements for real-time flows. Simulation results indicate that DS-SWAN and SD-AODV significantly improve end-to-end delays for real-time flows without starvation of background traffic. In this work we also present several versions of the SD-AODV routing protocol and study their behaviour.