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% Author: Till Tantau % Source: The PGF/TikZ manual \documentclass{article} \usepackage{pgf} \usepackage{tikz} \usetikzlibrary{arrows,patterns,plotmarks,shapes,snakes,er,3d,automata,backgrounds,topaths,trees,petri,mindmap} \usepackage[latin1]{inputenc} \begin{document} \begin{tikzpicture}[->,>=stealth',shorten >=1pt,auto,node distance=2.8cm, semithick] \tikzstyle{every state}=[fill=red,draw=none,text=white] \node[initial,state] (A) {$q_a$}; \node[state] (B) [above right of=A] {$q_b$}; \node[state] (D) [below right of=A] {$q_d$}; \node[state] (C) [below right of=B] {$q_c$}; \node[state] (E) [below of=D] {$q_e$}; \path (A) edge node {0,1,L} (B) edge node {1,1,R} (C) (B) edge [loop above] node {1,1,L} (B) edge node {0,1,L} (C) (C) edge node {0,1,L} (D) edge [bend left] node {1,0,R} (E) (D) edge [loop below] node {1,1,R} (D) edge node {0,1,R} (A) (E) edge [bend left] node {1,0,R} (A); \end{tikzpicture} \end{document}