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This paper presents a new MAC protocol with QoS support for wireless ad-hoc networks. This protocol called QoS- CROMA is an extension of an interesting TDMA MAC protocol that makes use of a receiver-driven on-demand time-slot assignment policy. Our QoS extension concerns the receiver-side scheduling, sender-side slot selection policy and the protocol packet format modification. A real-time scheduler for CPU task is adapted for the slot scheduling in our TDMA MAC context and some modifications to the slot selection policy of CROMA are carried out. Simulation results, considered in terms of data packet delay, throughput and control overhead, have been evaluated. QoS-CROMA is more performing than original CROMA in terms of lower data packet delay and higher throughput.