You can start with a review [1], and then BRML [2]. I think applications that are very focused on control tend to come from the military and thus not so well do

You can start with a review [1], and then BRML [2]. I think applications that are very focused on control tend to come from the military and thus not so well documented. [1] An introduction to factor graphs. https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1267047 https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1267047 [2] Bayesian Reasoning and Machine Learning. http://web4.cs.ucl.ac.uk/staff/D.Barber/textbook/200620.pdf http://web4.cs.ucl.ac.uk/staff/D.Barber/textbook/200620.pdf