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Due to the infrastructure-less mode of operation the mobile ad hoc networks have received significant research attention in recent years. They can be of immense use in case of emergency situations such as in relief operation, battlefield etc. Due to the highly dynamic nature, constantly changing topology and limited transmission range of the mobile nodes, routing in these networks is considered a critical research challenge. With the recent availability of small, low-cost and low-power positioning devices a new family of position based routing protocols have become popular. These set of protocols do not need to maintain explicit routes and therefore, can scale well in highly dynamic scenario. In this work we present the design of a new position based routing scheme called Circular Quadrant Routing Protocol (CQRP). We have incorporated a new circular quadrant architecture and multi-granular location information strategy in order to reduce the costs associated with location update and location query. The analysis part of this paper illustrates that we have been able to achieve a good asymptotic bound for the costs associated with the major location management functions.