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The development of pervasive computing has put the light on a challenging problem: how to dynamically compose services in heterogeneous and highly changing environments? The authors propose a survey that defines the service composition as a sequence of four steps: the translation, the generation, the evaluation, and finally the execution. With this powerful and simple model the authors describe the major service composition middleware. Then, a classification of these service composition middleware according to pervasive requirements - interoperability, discoverability, adaptability, context awareness, QoS management, security, spontaneous management, and autonomous management - is given. The classification highlights what has been done and what remains to do to develop the service composition in pervasive environments.
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