PRYORTIE: Public on-demand smart transportation service via a scalable fog-based platform

•A novel concept of Fog-based navigation for on-demand transportation services. This innovative paradigm consistently outperforms the state-of-the-art navigation algorithms in terms of efficiency, reliability, lower-latency, and lower-cost.•An application of the Fog-based navigation system on a smart package delivery scenario, PRYORTIE. The proposed package delivery scenario embraces a new scalable three-layers architecture: cloud layer, fog layer, road network layer in which drivers accept/decline orders on-the-go.•To facilitate communication and information exchange among the three layers, four new protocols have been formulated: vehicle sign in (VSI) protocol, customer-cloud-fog interaction (CCFI) protocol, package intermediate drop off (PID) protocol, path recommender algorithm (PRA).•A fully customizable simulator for testing and evaluating the proposed Fog-based real-time rerouting navigation system local traffic conditions. The simulator supports both cloud and fogbased navigation under varying conditions.