Recent years have witnessed the rapid development and deployment of the Internet of Things (IoT) thanks to the tremendous advancement of computer and communication technologies [4, 7]. Also, the proliferation of IoT devices in the past years, ranging from body sensors and wearable devices to home appliances and industrial monitoring sensors, has driven the rapid evolution of various computing paradigms such as pervasive and ubiquitous computing, mobile crowd sensing, edge computing, as well as the emergence of diverse applications and services like smart cities, eHealthcare, intelligent transportation systems [2, 6]. The resulting networking and computing paradigms, applications and services together have expedited the rising of the big data era, and significantly changed our daily life. For instance, the audio intelligent system of Amazon, Echo, can learn the habits of the customers so as to customise the unique audio services. Many other intelligent systems continue appearing [7]. Despite the technological and societal advantages and huge economical potentials of IoT, it is widely recognised that security and piracy has become one of the major concerns, which seriously impede the further development and deployment of IoT infrastructures, services, and applications [7]. Due to the intrinsic complexity and the huge amount of stand-alone devices involved in the IoT, the asymmetric advantages between Cyber defenders and attackers would World Wide Web DOI 10.1007/s11280-017-0490-9
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