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We survey the state-of-the-art on model-based formalisms for safety andsecurity joint analysis, where safety refers to the absence of unintendedfailures, and security to absence of malicious attacks. We conduct a thoroughliterature review and - as a result - we consider fourteen model-basedformalisms and compare them with respect to several criteria: (1) Modellingcapabilities and Expressiveness: which phenomena can be expressed in theseformalisms? To which extent can they capture safety-security interactions? (2)Analytical capabilities: which analysis types are supported? (3) Practicalapplicability: to what extent have the formalisms been used to analyze small orlarger case studies? Furthermore, (1) we present more precise definitions forsafety-security dependencies in tree-like formalisms; (2) we showcase thepotential of each formalism by modelling the same toy example from theliterature and (3) we present our findings and reflect on possible ways tonarrow highlighted gaps. In summary, our key findings are the following: (1)the majority of approaches combine tree-like formal models; (2) the exactnature of safety-security interaction is still ill-understood and (3) diverseformalisms can capture different interactions; (4) analyzed formalisms mergemodelling constructs from existing safety- and security-specific formalisms,without introducing ad hoc constructs to model safety-security interactions, or(5) metrics to analyze trade offs. Moreover, (6) large case studiesrepresenting safety-security interactions are still missing.

Model-based Joint Analysis of Safety and Security: Survey and Identification of Gaps