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The widespread adoption of the Internet of Things (IoT) devices has increased its popularity and usage in diverse dimensions, including smart city, home, healthcare, and vehicles. The pervasiveness of the number of IoT devices that operate in low power and lossy network leads to performance issues. An excessive amount of IoT devices that operate with a fixed number of gateways reduce the quality of service (QoS) due to the increased latency of routing messages between the source and destination sensors. In this paper, we propose an IoT Gateway as a Service (IGaaS) that enables on-demand provisioning of IoT Gateways to maintain and improve QoS in an IoT system with a significant number of sensors. The IGaaS allows both the stationary and mobile gateways to be provisioned on-demand. The mobile devices, such as smartphones and drones, provide gateway services in exchange for incentives. The IGaaS supports both the upscale and downscale of IoT gateways depending on various metrics and requirements. The experimental results show that the IGaaS improves the QoS in terms of latency and power consumption.