1 Edge computing for cyber-physical systems A systematic mapping study emphasizing trustworthiness JOSÉ MANUEL GASPAR SÁNCHEZ ∗ , NILS JÖRGENSEN ∗ , and MARTIN TÖRNGREN, KTH Royal Institute of Technology, Sweden RAFIA INAM, Ericsson Research, Sweden ANDRII BEREZOVSKYI, LEI FENG, ELENA FERSMAN, MUHAMMAD RUSYADI RAMLI, and KAIGE TAN, KTH Royal Institute of Technology, Sweden Edge computing is projected to have profound implications in the coming decades, proposed to provide solutions for applications such as augmented reality, predictive functionalities, and collaborative Cyber- Physical Systems (CPS). For such applications, edge computing addresses the new computational needs, as well as privacy, availability, and real-time constraints, by providing local high-performance computing capabilities to deal with the limitations and constraints of cloud and embedded systems. Edge computing is today driven by strong market forces stemming from IT/cloud, telecom, and networking - with corresponding multiple interpretations of "edge computing" (e.g. device edge, network edge, distributed cloud, etc.). Considering the strong drivers for edge-computing and the relative novelty of the field, it becomes important to understand the specific requirements and characteristics of edge-based CPS, and to ensure that research is guided adequately, e.g. avoiding specific gaps. Our interests lie in the applications of edge computing as part of CPS, where several properties (or attributes) of trustworthiness, including safety, security, and predictability/availability are of particular concern, each facing challenges for the introduction of edge-based CPS. We present the results of a systematic mapping study, a kind of systematic literature survey, investigating the use of edge computing for CPS with a special emphasis on trustworthiness. The main contributions of this study are a detailed description of the current research efforts in edge-based CPS and the identification and discussion of trends and research gaps. The results show that the main body of research in edge-based CPS only to a very limited extent consider key attributes of system trustworthiness, despite many efforts referring to critical CPS and applications like intelligent transportation. More research and industrial efforts will be needed on aspects of trustworthiness of future edge-based CPS including their experimental evaluation. Such research needs to consider the multiple interrelated attributes of trustworthiness including safety, security, and predictability, and new methodologies and architectures to address them. It is further important to provide bridges and collaboration between edge computing and CPS disciplines. CCS Concepts: • General and reference → Surveys and overviews; • Computer systems organization → Embedded and cyber-physical systems; Dependable and fault-tolerant systems and networks. ∗ Both authors contributed equally to this research. Authors’ addresses: José Manuel Gaspar Sánchez, jmgs@kth.se; Nils Jörgensen, nilsjor@kth.se; Martin Törngren, martint@ kth.se, KTH Royal Institute of Technology, Brinellvägen 86, Stockholm, Sweden, 114 28; Rafia Inam, rafia.inam@ericsson.com, Ericsson Research, Sweden; Andrii Berezovskyi, andriib@kth.se; Lei Feng, lfeng@kth.se; Elena Fersman, fersman@kth.se; Muhammad Rusyadi Ramli, ramli2@kth.se; Kaige Tan, kaiget@kth.se, KTH Royal Institute of Technology, Brinellvägen 86, Stockholm, Sweden, 114 28. Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from permissions@acm.org. © 2021 Association for Computing Machinery. XXXX-XXXX/2021/1-ART1 $15.00 https://doi.org/10.1145/1122445.1122456 ACM Transactions on Cyber-Physical Systems, Vol. 1, No. 1, Article 1. Publication date: January 2021. arXiv:2112.00619v1 [cs.DC] 26 Nov 2021