This paper proposes a time slot allocation scheme for military patrol environments. This proposal comes from analysis of traffic properties in a military patrol environment. In the near future, robots are expected to explore enemy grounds and measure threat, taking the place of human patrol. In order to control such robots, control messages must be extremely accurate. One mistake from the control center could cause a tragedy. Thus, high reliability must be guaranteed. Another goal is to maintain a continual flow of multimedia data sent from patrol robots. That is, QoS (Quality of Service) must be guaranteed. In order to transmit data while fulfilling both attributes, the per-path based centralized TDMA slot allocation scheme is recommended. The control center allocates slots to robots allowing synchronization among robots. Slot allocation collisions can also be avoided. The proposed scheme was verified through the ns-3 simulator. The scheme showed a higher packet delivery ratio than the algorithm in comparison. It also performed with shorter delay time in the downlink traffic transmission scenario than the algorithm in comparison. 논문 16-41-05-08 The Journal of Korean Institute of Communications and Information Sciences '16-05 Vol.41 No.05 http://dx.doi.org/10.7840/kics.2016.41.5.555 555 ※ 본 논문은 국방과학연구소의 “그룹 무인로봇체계용 위치기반 전술 MANET 통신/제어 S/W 개발” 과제의 지원을 받아 수행된 연구임 First Author : Ajou University Department of Computer Engineering, jina@uns.ajou.ac.kr, 학생회원 ° Corresponding Author : Ajou University Department of Computer Engineering, youngko@ajou.ac.kr, 정회원 * Ajou University Department of Computer Engineering, dabin912@gmail.com ** Agency for Defense Development, Korea, dhkwon@add.re.kr 논문번호:KICS2015-12-397, Received December 16, 2015; Revised April 1, 2016; Accepted April 8, 2016 The Journal of Korean Institute of Communications and Information Sciences '16-05 Vol.41 No.05