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Clustering is an important research topic for mobile ad hoc networks (MANETs) because clustering makes it possible to guarantee basic levels of system performance, such as throughput and delay, in the presence of both mobility and a large number of mobile terminals. A large variety of approaches for ad hoc clustering have been presented, whereby different approaches typically focus on different performance metrics. This article presents a comprehensive survey of recently proposed clustering algorithms, which we classify based on their objectives. This survey provides descriptions of the mechanisms, evaluations of their performance and cost, and discussions of advantages and disadvantages of each clustering scheme. With this article, readers can have a more thorough and delicate understanding of ad hoc clustering and the research trends in this area.