We consider a novel routing protocol suitable for ad-hoc networks with dynamically changing topologies, such as DECT 2020 NR (NR+) systems, which often lead to missing links between the nodes and thus, incomplete or inefficient routes. A key point of the proposed protocol is the combination of network discovery and matrix completion techniques, which allow the nodes to establish communication paths efficiently and reliably. Additionally, multihop localization is performed to estimate the location of the nodes without needing to broadcast each node's geographical position, thus preserving privacy during the routing process and enabling nodes in the network to independently find potentially missing paths in a decentralized manner instead of flooding the whole network. Simulation results illustrate the good performance of the proposed technique in terms of the average number of hops of the obtained routes in different scenarios, with different network densities and amounts of incompleteness.

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