Service composition is seen as the key issue to create innovative, efficient, flexible and dynamic applications on the Internet of things (IoT). Accordingly, we propose, in this paper, an approach for IoT service composition based on multi-agent system where several agents are engaged to satisfy the user request. This approach is designed using SysML and implemented using Netlogo platform. The use-cases scenarios and extensive tests show clearly the interest, the feasibility and the suitability of the multi-agent system for service composition.