Introduction
The past years have witnessed the rapid growth of the Internet of Things (IoT) systems. In particular, rich IoT applications enabling cross-device interactions (e.g., device-to-device interactions, device-to-cloud interactions) boost the wide-spread adoption of IoT devices. The number of IoT devices has reached more than 10 billion in 2021 and the number is estimated to exceed 25.4 billion in 2030 [1].