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The Internet of Things (IoT) is a rapidly growing trend within many domains, such as automotive, avionics, automation, energy, and health. IoT architecture is the system of numerous elements, including sensors, protocols, actuators, cloud services, and layers. IoT architecture plays an important role to provide desired services. Nowadays, tens of IoT architectures are provided by the research community. Many challenges have been identified by the research community, including interoperability, security and privacy, reliability, energy constraints, scalability, and lack of common standards. However, to provide suitable IoT architecture, the importance and priority of requirements in different scenarios may vary, and requirement analysis should be regarded. To this end, this paper presents a systematic mapping survey to give a review of IoT architecture and provide a structured overview of research trends. Moreover, a technical taxonomy is presented for these challenges according to reviewed studies. This classification model can be used as a guideline for future works.