This article presents an Internet of Things architecture for Smart Homes that specifically targets service composition and reconfiguration as enablers for the actuation and smart behavior capabilities. To this end, the main challenge that has to be addressed is the support to a seamless integration, composition, and reconfiguration of Internet of Things objects. Two enabling technologies are proposed here: a planning strategy based on a common-sense reasoning approach for service composition and a virtual-network protocol for Inter-Domain Messaging. The planner will identify the services that, properly connected, will cater for arisen, and therefore, unexpected needs. The virtual-network protocol will provide the support for this interconnection to take place in a transparent and orthogonal manner. This is particularly important to enable autonomous systems to instantiate composite services. To demonstrate the capabilities of the resulting framework, two use cases are presented, which under real circumstances demonstrate the potential of the proposed approach.