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This article addresses one of the main challenges related to the practical deployment of Internet of Things (IoT) solutions: the coordinated operation of entities at different infrastructures to support the automated orchestration of end-to-end Internet of Things services. This idea is referred to as “Internet of Things slicing” and is based on the network slicing concept already defined for the Fifth Generation (5G) of mobile networks. In this context, we present the architectural design of a slice orchestrator addressing the aforementioned challenge, based on well-known standard technologies and protocols. The proposed solution is able to integrate existing technologies, like cloud computing, with other more recent technologies like edge computing and network slicing. In addition, a functional prototype of the proposed orchestrator has been implemented, using open-source software and microservice platforms. As a first step to prove the practical feasibility of our solution, the implementation of the orchestrator considers cloud and edge domains. The validation results obtained from the prototype prove the feasibility of the solution from a functional perspective, verifying its capacity to deploy Internet of Things related functions even on resource constrained platforms. This approach enables new application models where these Internet of Things related functions can be onboarded on small unmanned aerial vehicles, offering a flexible and cost-effective solution to deploy these functions at the network edge. In addition, this proposal can also be used on commercial cloud platforms, like the Google Compute Engine, showing that it can take advantage of the …