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Abstract The Internet of Things (IoT) is a vision that broadens the scope of the Internet by incorporating physical objects to identify themselves to the participating entities. This innovative concept enables a physical object to represent itself in the digital world. There have been a lot of speculations and future forecasts about these physical objects connected with the Internet, however, most of them lack secure features and are vulnerable to a wide range of attacks. Miniature sensor nodes, embedded in these physical objects, limit the support for computationally complex and resource-consuming secured algorithms. In this paper, we propose a lightweight mutual authentication scheme for the real-world physical objects of an IoT environment. It is a payload-based encryption scheme which uses a simple four-way handshake mechanism to verify the identities of the participating objects. The real-world objects …