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Gravitational waves from coalescing compact binaries are searched for using the matched filtering technique. As the model waveform depends on a number of parameters, it is necessary to filter the data through a template bank covering the astrophysically interesting region of the parameter space. The choice of templates is defined by the maximum allowed drop in signal-to-noise ratio due to the discreteness of the template bank. In this paper we describe the template-bank algorithm that was used in the analysis of data from the Laser Interferometer Gravitational Wave Observatory (LIGO) and GEO 600 detectors to search for signals from binaries consisting of non-spinning compact objects. Using Monte Carlo simulations, we study the efficiency of the bank and show that its performance is satisfactory for the design sensitivity curves of ground-based interferometric gravitational wave detectors GEO 600, initial LIGO, advanced LIGO and Virgo. The bank is efficient in searching for various compact binaries such as binary primordial black holes, binary neutron stars, binary black holes, as well as a mixed binary consisting of a non-spinning black hole and a neutron star

A template bank to search for gravitational waves from inspiralling compact binaries: I. Physical models