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A novel decentralized service composition protocol was presented based on quality of service (QoS) for mobile ad hoc networks (MANETs). A service composition in MANETs is considered as a service path discovery in a service network. Based on the concept of source routing, the protocol integrates route discovery, service discovery and service composition and utilizes a constrained flooding approach to discover the optimal service path. A service path maintenance mechanism was exploited to recover broken service paths. Simulation experiments demonstrate that the proposed protocol outperforms existing service composition protocols.