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In this paper we propose MARAS, a biologically-inspired method for routing in a mobile ad-hoc/sensor network environment. We assume that all nodes have no explicit knowledge of the network topology, except for their coordinates and the neighboring nodes within an RF transmission range. MARAS then selects the next hop for forwarding a packet towards a destination node which is best suited depending on some measured metric values. The benefit of our proposed method is its ability to operate entirely in a self-adaptive manner and that it can easily compensate for sudden changes in the topology of the network.