Abstract--CEDAR is an algorithm for QoS routing in ad hoc network environments. It has three key components: (a) the establishment and maintenance of a self-organizing routing infrastructure called the core for performing route computations, (b) the propagation of the link-state of stable high-bandwidth links in the core through increase/decrease waves, and (c) a QoS route computation algorithm that is executed at the core nodes using only locally available state. Our preliminary performance evaluation shows that CEDAR is a robust and adaptive QoS routing algorithm that reacts effectively to the dynamics of the network while still approximating link-state performance for stable networks. Keywords--Ad hoc routing, QoS routing inftro.tex