The wide adoption of increasingly cheap and computationally powerful single-board computers, has triggered the emergence of new paradigms for collaborative data processing among IoT devices. Motivated by the billions of ARM chips having been shipped as IoT gateways so far, our paper proposes a novel continuous federation approach that uses RDF Stream Processing (RSP) engines as autonomous processing agents. These agents can coordinate their resources to distribute processing pipelines by delegating partial workloads to their peers via subscribing continuous queries. Our empirical study in “cooperative sensing” scenarios with resourceful experiments on a cluster of Raspberry Pi nodes shows that the scalability can be significantly improved by adding more autonomous agents to a network of edge devices on demand. The findings open several new interesting follow-up research challenges in enabling semantic interoperability for the edge computing paradigm.