Fog computing provides computing, storage and communication resources at the edge of the network, near the physical world. Subsequently , end devices nearing the physical world can have interesting properties such as short delays, responsiveness, optimized communications and privacy. However, these end devices have low stability and are prone to failures. There is consequently a need for failure management protocols for IoT applications in the Fog. The design of such solutions is complex due to the specificities of the environment, i.e., (i) dynamic infrastructure where entities join and leave without synchronization, (ii) high heterogeneity in terms of functions, communication models, network, processing and storage capabilities, and, (iii) cyber-physical interactions which introduce non-deterministic and physical world's space and time dependent events. This paper presents a fault tolerance approach taking into account these three characteristics of the Fog-IoT environment. Fault tolerance is achieved by saving the state of the application in an uncoordinated way. When a failure is detected, notifications are propagated to limit the impact of failures and dynamically reconfig-ure the application. Data stored during the state saving process are used for recovery, taking into account consistency with respect to the physical world. The approach was validated through practical experiments on a smart home platform.