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The traditional authentication for grid is based on PKI framework, using standard X.509 certificates. But with the growing scale of the grid, certificate management would become an encumbrance. However, certificateless-based signature scheme can overcome these problems for its certificate-free feature, and make authentication more efficient. In this paper, a certificateless-signature-based authenticated key agreement protocol is designed, which aims at circumventing the key escrow issues inherited in the identity-based schemes and the certificate management burden in PKI-based cryptosystems in grid. Then its security and performance analysis are made, which shows that the new protocol is secure and efficient.