The evolving concepts of mobile computing, context-awareness, and ambient intelligence are increasingly influencing user's experience of services. Therefore, the goal of this paper is to provide an overview of recent developments and implementations of middleware-based pervasive systems, and to explore major challenges of implementing such systems. This paper also provides a comprehensive access to the literature of the emerging approaches and design strategies of middleware for providing users

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... with personalized services taking into consideration their preferences and the overall operating context. Middleware systems were categorized according to their internal coordination model.