Is there any tool which draws a citation graph for a group of related papers? (it doesn't matter the format of papers - PDF, Word, etc - it also doesn't matter if the software doesn't perform parsing of citations)

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Graphviz (specifically, its dot tool) might be suitable. It's generates graph visualisations in formats including Postscript and PNG from a source that looks like this (in its simplest form):

digraph citations {
    "paper 1" -> "paper 2";
    "paper 2" -> "paper 3";
    "paper 1" -> "paper 4";
    …
}

It's good at generating a human-readable visualisation if the graph is planar, less so otherwise.

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Look at PaperScope.

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