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This paper presents a new public key distribution scheme adapted to ad hoc networks called TAKES for Trustful Authentication and Key Exchange Scheme. Its originality lies in performing authentication and key distribution with no need for a trusted authority or access to any infrastructure-based network, thanks to the use of Cryptographically Generated Addresses. Moreover the solution is very convenient having a simple operational mode at no extra hardware cost. TAKES aims to build a trust association between a person, his/her communicating device, the IP address of the device, and his/her public key. As a direct result, new security functions like associating a misbehaving node to its owner, securing end-to-end communications through tunnels, or even implementing a light naming system can be enabled on top of ad hoc networks. TAKES is formally proven using BAN logic and a proof-of-concept implementation demonstrates its feasibility within ad hoc networks.