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Recent advances in interference cancellation and signal-processing techniques can enable full-duplex radios and multipacket reception (MPR), which will have significant impact on medium access control (MAC) schemes. In this paper, we propose a MAC scheme in unmanned aerial vehicle (UAV) ad-hoc networks with full-duplex radios and MPR. To efficiently handle the highly mobile environment of a UAV ad-hoc network, a token-based technique is used to update information in the network as well. The MAC schemes in the presence of perfect and imperfect channel state information (CSI) are formulated as a combinatorial optimization problem and a discrete stochastic optimization problem, respectively. Simulation results show the effectiveness of the proposed MAC.