Purpose The purpose of this paper is to address the Internet of Things (IoT) service discovery problem and investigate the existing solutions to tackle this problem in many aspects. Design/methodology/approach This paper presents an overview of IoT services aiming at providing a clear understanding about their features because this term is still ambiguous for the IoT service discovery approaches. Besides, a full comparison study of the most representative service discovery approaches in the literature is presented over four perspectives: the IoT information model, the mechanism of IoT service discovery, the adopted architecture and the context awareness. These perspectives allow classifying, comparing and giving a deeper understanding of the existing IoT service discovery solutions. Findings This paper presents a new definition and a new classification of IoT services and citation of their features comparing with the traditional Web services. This paper discusses the existing solutions, as well as the main challenges, that face the service discovery issue in the IoT domain. Besides, two classifications of the approaches are adopted on the basis of their service description model and their mechanism of discovery, and a set of requirements that need to be considered when defining an IoT service are proposed. Originality/value There are few number works that survey the service discovery approaches in the IoT domain, but none of these surveys discuss the service description models in the IoT or the impact of the context awareness aspect in the service discovery solution. There are also few works that give a comprehensive overview of IoT services to understand their nature to facilitate their description and discovery. This paper fills this gap by performing a full comparison study of multi-category and recent approaches for service discovery in the IoT over many aspects and also by performing a comprehensive study of the IoT service features.

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