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The Internet of Things (IoT) is a step forward in the well-known widespread Internet revolution. It consists of a world of physical objects embedded with sensors and actuators linked by wireless networks which communicate using the Internet, shaping a network of smart objects, with processing power and able to capture environmental variables, and to react to external stimuli. Such objects are connected and can be controlled over the Internet, enabling a myriad of novel applications. The IoT is one of the key technologies to enable the creation of cyber physical systems and realize the vision of Smart Cities. Several recent technological advances enabled the emergence of IoT such as nanotechnology, sensor networks, mobile communication, and ubiquitous computing. However, there are still a set of challenges to be addressed, mainly related to the development of IoT applications dealing with the heterogeneity …