I am detecting for iBeacon in background. When my device comes in a particular region application should comes to foreground.
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It cannot be done without user interaction. The only option is you can generate a push notification to tell the user to bring the application to foreground.
This is from the Apple documentation about this issue:
To answer to some comments about WhatsApp, with it, when you receive a classic vocal call, IOS use CallKit to display your call and wake up your phone, but it's not inside app. I try to make a video call with WhatsApp, and in this case, there is a notification. Press notification open app and answer to the call.
Conclusion : It's impossible to wake up app from background to foreground in IOS, but it's not really a problem because you can use notification to display what you want and get the user to your app after a touch on your notification. All of iPhone users are familiar with this kind of interaction, it's better to deal with it.