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Routing of packets in mobile ad hoc networks with a large number of nodes or with high mobility is a very difficult task and current routing protocols do not really scale well with these scenarios. The beacon-less routing algorithm (BLR) presented in this paper is a routing protocol that makes use of location information to reduce routing overhead. However, unlike other position-based routing protocols, BLR does not require nodes to periodically broadcast Hello-messages (called beaconing), and thus avoids drawbacks such as extensive use of scarce battery-power, interferences with regular data transmission, and performance degradation. BLR selects a forwarding node in a distributed manner among all its neighboring nodes with having information neither about their positions nor even about their existence. Data packets are broadcasted and the protocol takes care that just one of the receiving nodes forwards the packet. Optimized forwarding is achieved by applying a concept of dynamic forwarding delay. Consequently, the node that computes the shortest forwarding delay relays the packet first. This forwarding is detected by the other nodes and suppresses them to relay the same packet any further. Analytical results and simulation experiments indicate that BLR provides efficient and robust routing in highly dynamic mobile ad hoc networks.