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Ad-hoc networks usually support best-effort traffic and occasionally some kind of quality of service (QoS). However, there are some applications, which generally involve cooperative control, with hard real-time traffic requirements where strict deadlines must be met. To meet deadlines, the communication network has to support the timely delivery of inter-task messages. This is the case, for example, of applications involving cooperative robot teams, such as those used for rescue tasks in hostile environments, emergencies or disaster recovery, where a wired backbone is in-feasible or economically unviable. In this paper, we present RT-WMP, a novel protocol that allows wireless real-time traffic in relatively small mobile ad-hoc networks using the low-cost commercial 802.11 technology. The protocol is based on a token-passing approach and message exchange is priority based. Moreover, support for frequent topology changes is provided through the sharing of a matrix that describes link quality amongst the members of the network.