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With the emergence of the Industrial Internet of Things (IIoT), process industries have started to adopt wireless sensor-actuator networks (WSANs) for control applications. It is crucial to achieve real-time communication in this emerging class of networks, and routing has significant impacts on end-to-end communication delays in WSANs. However, despite considerable research on real-time transmission scheduling and delay analysis for such networks, real-time routing remains an open question for WSANs. This paper presents a conflict-aware real-time routing approach for WSANs, leveraging a key observation that conflicts among transmissions involving a common field device can contribute significantly to communication delays in industrial WSANs, such as WirelessHART networks. By incorporating conflict delays into the routing decisions, conflict-aware real-time routing algorithms allow a WSAN to …