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We present reliable adaptive service-driven efficient routing (muRACER), a routing protocol suite based on a novel service-oriented design for sensor-actuator networks where nodes expose their capabilities to applications as a service profile. A node's service profile consists of a set of services (i.e., sensing and actuation capabilities) that it provides and the quality-of-service (QoS) parameters associated with those services (delay, accuracy, freshness, etc.). muRACER uses an efficient service-aware routing approach that aggressively reduces downstream traffic (from the sink to the network's nodes) by translating service profiles into efficient paths for queries. To support QoS, muRACER dynamically adapts 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, muRACER improves 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. Service- and context-aware reliable routing enhances the network's efficiency and effectiveness (satisfaction of applications' QoS requirements). We implemented muRACER on top of TinyOS and conducted several experiments that confirmed muRACER's ability with regard to each of its design objectives.