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Provision of quality of service (QoS) in an ad hoc network is a challenging task. In this paper, we propose a QoS aware routing for time division multiple access (TDMA) based ad hoc networks. Our protocol tries to identify multiple paths each of which is capable of providing the QoS in terms of the number of time slots at its own or by combining it to a group of paths. Our protocol incorporates a procedure to determine the available time slots in a localized and distributed fashion. We evaluate the performance of the protocol through simulations. While evaluating the performance, we focus on the number of paths that are able to satisfy the QoS and the QoS success ratio.