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Large-scale Internet of Things (IoT) services such as healthcare, smart cities, and marine monitoring are pervasive in cyber-physical environments strongly supported by Internet technologies and fog computing. Complex IoT services are increasingly composed of sensors, devices, and compute resources within fog computing infrastructures. The orchestration of such applications can be leveraged to alleviate the difficulties of maintenance and enhance data security and system reliability. However, efficiently dealing with dynamic variations and transient operational behavior is a crucial challenge within the context of choreographing complex services. Furthermore, with the rapid increase of the scale of IoT deployments, the heterogeneity, dynamicity, and uncertainty within fog environments and increased computational complexity further aggravate this challenge. This article gives an overview of the core issues …