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The distributed nature of Internet of Things (IoT) and its rapid increase on a large scale raises many security and privacy issues. Access control is one of the major challenges currently addressed through centralized approaches that may rely on a third party and they are constrained by availability and scalability, which may result in a performance bottleneck. Therefore, this paper proposes a novel solution to manage the delivery of lightweight and decentralized secure access control of an IoT system based on a multi-agent system and a blockchain. The main objective of the proposed solution is to build Blockchain Managers (BCMs) for securing IoT access control, as well as allowing for secure communication between local IoT devices. Moreover, the solution also enables secure communication between IoT devices, fog nodes and cloud computing.