The mcode package configures the listings package to highlight MATLAB code in LaTeX. Inline, block and file listings are supported.
This template includes a version of mcode.sty from the MATLAB file exchange, last updated 6 Mar 2014.
The output of this graph is used as Figure 1 of the paper: Wangyan Li, Zidong Wang, Guoliang Wei, Lifeng Ma, Jun Hu, and Derui Ding, “A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks,” Discrete Dynamics in Nature and Society, vol. 2015, Article ID 683701, 12 pages, 2015. doi:10.1155/2015/683701.
It's based on http://www.texample.net/tikz/examples/hierarchical-diagram/.
Relevant link: http://tex.stackexchange.com/questions/226461/how-to-draw-hierarchical-graph-like-this-one.