# Federated Learning for Cyber Physical Systems: A Comprehensive Survey

arXiv: https://arxiv.org/abs/2505.04873 · HTML: https://mlsanity.com/paper/2505.04873/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 96 of its 252 references that are in the map.
- First posted on arXiv 8 May 2025.

## Builds on (most cited first, 30 of 96)

- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Federated Learning: Strategies for Improving Communication Efficiency](https://mlsanity.com/paper/1610.05492/) (2016)
- [How To Backdoor Federated Learning](https://mlsanity.com/paper/1807.00459/) (2018)
- [Federated Multi-Task Learning](https://mlsanity.com/paper/1705.10467/) (2017)
- [Ditto: Fair and Robust Federated Learning Through Personalization](https://mlsanity.com/paper/2012.04221/) (2020)
- [Personalized Federated Learning with Moreau Envelopes](https://mlsanity.com/paper/2006.08848/) (2020)
- [Federated Learning with Differential Privacy: Algorithms and Performance Analysis](https://mlsanity.com/paper/1911.00222/) (2019)
- [Local Model Poisoning Attacks to Byzantine-Robust Federated Learning](https://mlsanity.com/paper/1911.11815/) (2019)
- [Adaptive Federated Learning in Resource Constrained Edge Computing Systems](https://mlsanity.com/paper/1804.05271/) (2018)
- [Federated Learning in Mobile Edge Networks: A Comprehensive Survey](https://mlsanity.com/paper/1909.11875/) (2019)
- [A Survey on Federated Learning Systems: Vision, Hype and Reality for Data Privacy and Protection](https://mlsanity.com/paper/1907.09693/) (2019)
- [Client Selection for Federated Learning with Heterogeneous Resources in Mobile Edge](https://mlsanity.com/paper/1804.08333/) (2018)
- [Analyzing Federated Learning through an Adversarial Lens](https://mlsanity.com/paper/1811.12470/) (2018)
- [The Hidden Vulnerability of Distributed Learning in Byzantium](https://mlsanity.com/paper/1802.07927/) (2018)
- [Robust Aggregation for Federated Learning](https://mlsanity.com/paper/1912.13445/) (2019)
- [Personalized Federated Learning: A Meta-Learning Approach](https://mlsanity.com/paper/2002.07948/) (2020)
- [SplitFed: When Federated Learning Meets Split Learning](https://mlsanity.com/paper/2004.12088/) (2020)
- [A Little Is Enough: Circumventing Defenses For Distributed Learning](https://mlsanity.com/paper/1902.06156/) (2019)
- [Federated Learning for Internet of Things: A Comprehensive Survey](https://mlsanity.com/paper/2104.07914/) (2021)
- [Communication-Efficient On-Device Machine Learning: Federated Distillation and Augmentation under Non-IID Private Data](https://mlsanity.com/paper/1811.11479/) (2018)
- [Edge Intelligence: Paving the Last Mile of Artificial Intelligence with Edge Computing](https://mlsanity.com/paper/1905.10083/) (2019)
- [Manipulating Machine Learning: Poisoning Attacks and Countermeasures for Regression Learning](https://mlsanity.com/paper/1804.00308/) (2018)
- [Federated Learning via Over-the-Air Computation](https://mlsanity.com/paper/1812.11750/) (2018)
- [Client-Edge-Cloud Hierarchical Federated Learning](https://mlsanity.com/paper/1905.06641/) (2019)
- [Federated Learning for Smart Healthcare: A Survey](https://mlsanity.com/paper/2111.08834/) (2021)
- [FedHealth: A Federated Transfer Learning Framework for Wearable Healthcare](https://mlsanity.com/paper/1907.09173/) (2019)
- [Energy Efficient Federated Learning Over Wireless Communication Networks](https://mlsanity.com/paper/1911.02417/) (2019)
- [Privacy-preserving Federated Brain Tumour Segmentation](https://mlsanity.com/paper/1910.00962/) (2019)
- [Mitigating Sybils in Federated Learning Poisoning](https://mlsanity.com/paper/1808.04866/) (2018)
- [Edge AI: On-Demand Accelerating Deep Neural Network Inference via Edge Computing](https://mlsanity.com/paper/1910.05316/) (2019)

## Built on by (most cited first, 6 of 6)

- [Clustered Federated Learning for Generalizable FDIA Detection in Smart Grids with Heterogeneous Data](https://mlsanity.com/paper/2507.14999/) (2025)
- [From Privacy to Trust in the Agentic Era: A Taxonomy of Challenges in Trustworthy Federated Learning Through the Lens of Trust Report 2.0](https://mlsanity.com/paper/2507.15796/) (2025)
- [PenTiDef: Decentralized Federated Intrusion Detection System with Differential Privacy and Latent-Space Defense via Blockchain Coordination in IIoT](https://mlsanity.com/paper/2602.17973/) (2026)
- [VARS-FL: Validation-Aligned Client Selection for Non-IID Federated Learning in IoT Systems](https://mlsanity.com/paper/2605.05896/) (2026)
- [StreamSplit: Continuous Audio Representation Learning via Uncertainty-Guided Adaptive Splitting](https://mlsanity.com/paper/2605.26523/) (2026)
- [FedOPAL: One-Shot Federated Learning via Analytic Visual Prompt Tuning](https://mlsanity.com/paper/2607.08368/) (2026)

## Abstract (arXiv)

The integration of machine learning (ML) in cyber physical systems (CPS) is a complex task due to the challenges that arise in terms of real-time decision making, safety, reliability, device heterogeneity, and data privacy. There are also open research questions that must be addressed in order to fully realize the potential of ML in CPS. Federated learning (FL), a distributed approach to ML, has become increasingly popular in recent years. It allows models to be trained using data from decentralized sources. This approach has been gaining popularity in the CPS field, as it integrates computer, communication, and physical processes. Therefore, the purpose of this work is to provide a comprehensive analysis of the most recent developments of FL-CPS, including the numerous application areas, system topologies, and algorithms developed in recent years. The paper starts by discussing recent advances in both FL and CPS, followed by their integration. Then, the paper compares the application of FL in CPS with its applications in the internet of things (IoT) in further depth to show their connections and distinctions. Furthermore, the article scrutinizes how FL is utilized in critical CPS applications, e.g., intelligent transportation systems, cybersecurity services, smart cities, and smart healthcare solutions. The study also includes critical insights and lessons learned from various FL-CPS implementations. The paper's concluding section delves into significant concerns and suggests avenues for further research in this fast-paced and dynamic era.