The disclosure generally relates to enabling communication among one or more Internet of Things (IoT) device groups. In particular, various heterogeneous IoT devices that may need to interact with one another in different ways may be organized into IoT device groups to support efficient interaction among the IoT devices. For example, pre-defined IoT device groups may be formed organize certain IoT devices that perform similar activities and certain IoT devices may be dynamically allocated to ad-hoc IoT device groups for certain contexts (e.g., the ad-hoc IoT device groups may include IoT devices that can implement a desired function and therefore be dynamically formed to implement the desired function). Furthermore, the IoT groups may communicate hierarchically, wherein messages may be exchanged among IoT group owners or ranking members to support efficient communication between different IoT groups.