The design of a general architecture for the Internet of Things (IoT) is a complex task, due to the heterogeneity of devices, communication technologies, and applications that are part of such systems. Therefore, there are significant opportunities to improve the state of the art, whether to better the performance of the system, or to solve actual issues in current systems. This thesis focuses, in particular, on three aspects of the IoT. First, issues of cyber-physical systems are analysed. In these systems, IoT technologies are widely used to monitor, control, and act on physical entities. One of the most important issue in these scenarios are related to the communication layer, which must be characterized by high reliability, low latency, and high energy efficiency. Some solutions for the channel access scheme of such systems are proposed, each tailored to different specific scenarios. These solutions, which exploit the capabilities of state of the art radio transceivers, prove effective in improving the performance of the considered systems. Positioning services for cyber-physical systems are also investigated, in order to improve the accuracy of such services. Next, the focus moves to network and service optimization for traffic intensive applications, such as video streaming. This type of traffic is common amongst non-constrained devices, like smartphones and augmented/virtual reality headsets, which form an integral part of the IoT ecosystem. The proposed solutions are able to increase the video Quality of Experience while wasting less bandwidth than state of the art strategies. Finally, the security of IoT systems is investigated. While often overlooked, this aspect is fundamental to enable the ubiquitous deployment of IoT. Therefore, security issues of commonly used IoT protocols are presented, together with a proposal for an authentication mechanism based on physical channel features. This authentication strategy proved to be effective as a standalone mechanism or as an additional security layer to improve the security level of legacy systems
