Many future innovative computing services will use Fog Computing Systems (FCS), integrated with Internet of Things (IoT) resources. These new services, built on the convergence of several distinct technologies, need to fulfil time-sensitive functions, provide variable levels of integration with their environment, and incorporate data storage, computation, communications, sensing, and control. There are, however, significant problems to be solved before such systems can be considered fit for purpose. The high heterogeneity, complexity, and dynamics of these resource-constrained systems bring new challenges to their robust and reliable operation, which implies the need for integral resilience management strategies. This paper surveys the state of the art in the relevant fields, and discusses the research issues and future trends that are emerging. We envisage future applications that have very stringent requirements, notably high-precision latency and synchronization between a large set of flows, where FCSs are key to supporting them. Thus, we hope to provide new insights into the design and management of resilient FCSs that are formed by IoT devices, edge computer servers and wireless sensor networks; these systems can be modelled using Game Theory, and flexibly programmed with the latest software and virtualization platforms.

未来许多创新的计算服务将使用与物联网（IoT）资源集成的雾计算系统（FCS）。这些新服务建立在几种不同技术的融合之上，需要履行对时间敏感的功能，提供与其环境的可变集成级别，并整合数据存储，计算，通信，传感和控制。但是，在认为这样的系统适合于目的之前，有许多重要的问题需要解决。这些资源受限的系统的高度异构性，复杂性和动态性为其稳健和可靠的运行带来了新的挑战，这意味着需要集成的弹性管理策略。本文概述了相关领域的最新技术，并讨论了正在出现的研究问题和未来趋势。我们设想未来的应用程序具有非常严格的要求，特别是高精度延迟和大量流之间的同步，而FCS是支持它们的关键。因此，我们希望对由物联网设备，边缘计算机服务器和无线传感器网络形成的弹性FCS的设计和管理提供新的见解；这些系统可以使用博弈论进行建模，并使用最新的软件和虚拟化平台进行灵活编程。