In this book, we propose service-oriented sensor-actuator networks (SOSANETs) as a new paradigm for building the next generation of customizable, interoperable sensor-actuator networks where nodes expose their capabilities to applications in the form of service profiles. We first introduce a query model and an architecture for SOSANETs. We then present uRACER (Reliable Adaptive serviCe-driven Efficient Routing), a routing protocol suite for SOSANETs. uRACER consists of three routing protocols, namely, SARP (Service- Aware Routing Protocol), CARP (Context-Aware Routing Protocol), and TARP (Trust-Aware Routing Protocol). SARP uses an effcient service-aware routing approach that aggressively reduces downstream traffic by translating service profiles into efficient paths. CARP supports QoS by dynamically adapting each node's routing behavior and service profile according to the current context of that node, i.e. number of pending queries and number and type of messages to be routed. Finally, TARP achieves high end-to-end reliability through a scalable reputation-based approach in which each node is able to locally estimate the next hop of the most reliable path to the sink.