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Initial work in ad hoc routing has considered only the problem of providing efficient mechanisms for finding paths in very dynamic networks, without considering security. Because of this, there are a number of attacks that can be used to manipulate the routing in an ad hoc network. In this paper, we describe these threats, specifically showing their effects on ad hoc on-demand distance vector and dynamic source routing. Our protocol, named authenticated routing for ad hoc networks (ARAN), uses public-key cryptographic mechanisms to defeat all identified attacks. We detail how ARAN can secure routing in environments where nodes are authorized to participate but untrusted to cooperate, as well as environments where participants do not need to be authorized to participate. Through both simulation and experimentation with our publicly available implementation, we characterize and evaluate ARAN and show that it is able to effectively and efficiently discover secure routes within an ad hoc network.