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A Survey on Digital Twins: Architecture, Enabling Technologies, Security and Privacy, and Future Prospects
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Abstract
By interacting, synchronizing, and cooperating with its physical counterpart in real time, digital twin (DT) is promised to promote an intelligent, predictive, and optimized modern city. Via interconnecting massive physical entities and their virtual twins with inter-twin and intra-twin communications, the Internet of DTs (IoDT) enables free data exchange, dynamic mission cooperation, and efficient information aggregation for composite insights across vast physical/virtual entities. However, as IoDT incorporates various cutting-edge technologies to spawn the new ecology, severe known/unknown security flaws, and privacy invasions of IoDT hinder its wide deployment. Besides, the intrinsic characteristics of IoDT, such as decentralized structure, information-centric routing, and semantic communications, entail critical challenges for security service provisioning in IoDT. To this end, this article presents an in-depth review of the IoDT with respect to system architecture, enabling technologies, and security/privacy issues. Specifically, we first explore a novel distributed IoDT architecture with cyber–physical interactions and discuss its key characteristics and communication modes. Afterward, we investigate the taxonomy of security and privacy threats in IoDT, discuss the key research challenges, and review the state-of-the-art defense approaches. Finally, we point out the new trends and open research directions related to IoDT.
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“A crucial aspect of these advancements is the explainability of AI-driven decisions, which is essential for guiding IoDT development and refining AI algorithms [140,141].”
From Digital Twins in the IIoT: Current Practices and Future Directions Toward Industry 5.0 (2025) · cites this paper as [141]
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“Information bottleneck (IB) theory [139], which bridges information theory and machine learning, offers a promising approach to implement feasible and privacy-aware semantic communications in IoDT [140].”
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Kim, Y., Kim, H., Ha, B., & Kim, W.-T. (2025) · IEEE Access · doi:10.1109/access.2025.3530558 · Cited by 12
Intelligent Computation Offloading Based on Digital Twin-Enabled 6G Industrial IoT
Wu, J., & Zuo, R. (2024) · Applied Sciences · doi:10.3390/app14031035 · Cited by 11
TRIPLE: A blockchain-based digital twin framework for cyber–physical systems security
Suhail, S., Iqbal, M., Hussain, R., Malik, S. U. R., & Jurdak, R. (2024) · Journal of Industrial Information Integration · doi:10.1016/j.jii.2024.100706 · Cited by 14
Proactive Task Allocation in Extreme Edge Computing for Digital Twin Services
Khatib, R. F. E., Elsayed, S. A., Zorba, N., & Hassanein, H. S. (2025) · IEEE Internet of Things Journal · doi:10.1109/jiot.2024.3524868 · Cited by 11
Resource Allocation for the Training of Image Semantic Communication Networks
Li, Y., Zhou, X., & Zhao, J. (2025) · IEEE Transactions on Wireless Communications · doi:10.1109/twc.2025.3527014 · Cited by 10
Bibliometric Analysis of Digital Twin: Scientometrics and Future Research Trends
Bhatia, M., & Kumar, V. (2025) · IEEE Internet of Things Journal · doi:10.1109/jiot.2025.3555282 · Cited by 11
Federated learning for digital twin applications: a privacy-preserving and low-latency approach
Li, J., & Wang, D. (2025) · PeerJ Computer Science · doi:10.7717/peerj-cs.2877 · Cited by 11
The Impact of AI on Cybersecurity Defense Mechanisms: Future Trends and ChallengesPreprint
Gilbert, C., & Gilbert, M. A. (2025) · SSRN Electronic Journal · doi:10.2139/ssrn.5258783 · Cited by 11
Angelova, R. A. (2025) · Textiles · doi:10.3390/textiles5040049 · Cited by 10
Wang, W., Zaheer, Q., Qiu, S., Wang, W., Ai, C., Wang, J., Wang, S., & Hu, W. (2023) · Springer eBooks · doi:10.1007/978-981-99-5804-7_4 · Cited by 10
Digital Twin-Based Blockchain for Power Support in Networked Microgrids
Hong, Y., Alano, F. I., Lee, Y., Jiang, J., & Yeh, J.-N. (2024) · IEEE Access · doi:10.1109/access.2024.3416672 · Cited by 10
Zhang, Y., Liu, Y., Wang, J., Xuan, Q., Lin, Y., & Gui, G. (2024) · IEEE Transactions on Information Forensics and Security · doi:10.1109/tifs.2024.3524157 · Cited by 11
Self-citationJia, P., Wang, X., & Shen, X. (2025) · IEEE Transactions on Communications · doi:10.1109/tcomm.2025.3552299 · Cited by 10
Metadata
- Authors
- Wang, Y., Su, Z., Guo, S., Dai, M., Luan, T. H., & Liu, Y.
- Affiliations
- Xi'an Jiaotong University (CN)
- University of Macau (MO)
- Venue
- IEEE Internet of Things Journal
- Published
- 2023-09-01
- Volume
- 10
- Issue
- 17
- Pages
- 14965-14987
- ISSN
- 2327-4662 (ISSN-L)
- 2372-2541
- OpenAlex
- W4362514681
- Semantic Scholar
- bc0b2c5033fdf66b5f48adf715dd333f94f9064d
- Cited by
- 357
- References
- 139
- Citations by year
- 2026: 113 · 2025: 127 · 2024: 88 · 2023: 26
- FWCI
- 39.32
- Type
- journal article
- Language
- en
- Open access
- green
- doi.org
- Licence
- Locations
- IEEE Internet of Things Journal (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Figshare (submittedVersion, cc-by-nc-sa)
- arXiv (Cornell University)
- Funders
- NSFC (U22A2029, U20A20175, 62101429)
- Fundamental Research Funds for the Central Universities
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › IoT and Edge/Fog Computing
- Physical Sciences › Engineering › Industrial and Manufacturing Engineering › Digital Transformation in Industry
- Physical Sciences › Computer Science › Information Systems › Internet of Things and AI
- Keywords
- digital twin, digital twin architecture, security threats, privacy, cyber-physical systems, distributed architecture, information-centric networking, semantic communication, security defenses, enabling technologies
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Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
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