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This chapter provides an overview of structured Peer-to-Peer overlay algorithms. The chapter introduces basic concepts including geometries, routing algorithms, routing table maintenance, node join/leave behaviour, and bootstrapping of structured Peer-to-Peer overlay algorithms. Based on these key concepts, a number of key overlay algorithms are classified into categories and a brief over-view of these algorithms is presented. Finally, the chapter presents an ’on-a-glance’ comparison of the presented algorithms and provides an outlook on open research issues.