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Fog Computing is now emerging as the dominating paradigm bridging the compute and connectivity gap between sensing devices and latency-sensitive services. However, as fog deployments scale by accumulating numerous devices interconnected over highly dynamic and volatile network fabrics, the need for self-healing in the presence of failures is more evident. Using the prevailing methodology of self-stabilization, we propose a fault-tolerant framework for control planes that enables fog services to cope and recover from a very broad fault model. Specifically, our model considers network uncertainties, packet drops, node fail-stops and violations of the assumptions according to which the system was designed to operate (e.g., system state corruption). Our self-stabilizing algorithms guarantee automatic recovery within a constant number of communication rounds without the need for external (human …