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We focus on Internet of Things (IoT) environments where sensing and computing devices (nodes) are responsible to observe, reason, report, and react to a specific phenomenon. Each node (e.g., an unmanned vehicle or an autonomous device) captures context from data streams and reasons on the presence of an event. We propose a distributed predictive analytics scheme for localized context reasoning under uncertainty. Such reasoning is achieved through a contextualized, knowledge-driven clustering process, where the clusters of nodes are formed according to their belief on the presence of the phenomenon. Each cluster enhances its localized opinion about the presence of an event through consensus realized under the principles of fuzzy logic (FL). The proposed FL-driven consensus process is further enhanced with semantics adopting type-2 fuzzy sets to handle the uncertainty related to the identification …