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One of the central research challenges in the Internet of Things and Ubiquitous Computing domains is how users can be enabled to “program” their personal and industrial smart environments by combining services that are provided by devices around them. We present a service composition system that enables the goal-driven configuration of smart environments for end users by combining semantic metadata and reasoning with a visual modeling tool. In contrast to process-driven approaches where service mashups are statically defined, we make use of embedded semantic API descriptions to dynamically create mashups that fulfill the user’s goal. The main advantage of our system is its high degree of flexibility, as service mashups can adapt to dynamic environments and are fault-tolerant with respect to individual services becoming unavailable. To support users in expressing their goals, we integrated a visual …