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Delay and disruption tolerant networking (DTN) architecture has been developed for networks operating under extreme conditions. DTN architecture is built using a set of new protocol family including Bundle Protocol and Licklider Transmission Protocol which relax almost all the assumptions for the existence of a network, like presence of end-to-end connectivity among communicating nodes, low propagation delays etc and allow the communication to take place. Routing is one of the biggest challenges in DTNs. A number of routing schemes have been proposed but all such schemes are either history based and deterministic or application specific and thus do not offer a stable solution for the routing problem for DTNs. Direct transmission scheme involves single hop forwarding which results in poor delivery efficiency. Epidemic routing is a flooding based approach resulting in high delivery efficiency at the cost of high network congestion which eventually reduces the network performance. Probabilistic routing is a moderately efficient scheme in terms of delivery efficiency and usage of network resources. In this paper, we propose an adaptive and efficient Bundle Fault Tolerance based Probabilistic Routing (BFPR) scheme, which offers significantly improved performance over existing DTN routing schemes. Simulations and results analysis have been carried out using MATLAB.