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Internet of Things (IoT) is characterized by heterogeneous technologies, which concur to the provisioning of innovative services in various application domains. In this scenario, the satisfaction of security and privacy requirements plays a fundamental role. Such requirements include data confidentiality and authentication, access control within the IoT network, privacy and trust among users and things, and the enforcement of security and privacy policies. Traditional security countermeasures cannot be directly applied to IoT technologies due to the different standards and communication stacks involved. Moreover, the high number of interconnected devices arises scalability issues; therefore a flexible infrastructure is needed able to deal with security threats in such a dynamic environment. In this survey we present the main research challenges and the existing solutions in the field of IoT security, identifying open …