I. Introduction
Graphical models of codes and the decoding algorithms associated with them are now a major focus area of research in coding theory. Turbo codes, low-density parity-check (LDPC) codes, and expander codes are all examples of codes defined, in one way or another, on underlying graphs. A unified treatment of graphical models and the associated decoding algorithms began with the work of Wiberg, Loeliger, and Koetter [32], [33], and has since been abstracted and refined under the framework of the generalized distributive law [1], factor graphs [21], and normal realizations [7], [8]. The particular case of graphical models in which the underlying graphs are cycle-free has a long and rich history of its own, starting with the study of trellis representations of codes; see, e.g., [31] and the references therein.