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Reliable data delivery in the Internet of Things (IoT) is very important in order to provide IoT-based services with the required quality. However, IoT data delivery may not be successful for different reasons, such as connection errors, external attacks, or sensing errors. This results in data incompleteness, which decreases the performance of IoT applications. In particular, the recovery of missing data among the massive sensed data of the IoT is so important that it should be solved. In this paper, we propose a probabilistic method to recover missing (incomplete) data from IoT sensors by utilizing data from related sensors. The main idea of the proposed method is to perform probabilistic matrix factorization (PMF) within the preliminary assigned group of sensors. Unlike previous PMF approaches, the proposed model measures the similarity in data among neighboring sensors and splits them into different clusters with a K …