Avec le paquetage vaucanson-g:
\MediumPicture\VCDraw{%
\begin{VCPicture}{(0,-4)(4,4)}
% states
\State[1]{(0,0)}{1}
\State[2]{(8,0)}{2}
\FinalState[3]{(4,0)}{3}
\State[4]{(0,-4)}{4}
\FinalState[5]{(4,-4)}{5}
% initial--final
\Initial{1}
%\Final{10}
% transitions
\EdgeL{1}{3}{a}
\EdgeL{1}{4}{b}
\EdgeL{1}{5}{c}
\ArcL{2}{3}{a}
\EdgeL{2}{5}{c}
\LoopN{3}{a}
\ArcL{3}{2}{b}
\ArcL{3}{5}{c}
\ArcL{4}{5}{c}
\ArcL{5}{3}{a}
\ArcL{5}{4}{b}
\LoopS{5}{c}
\end{VCPicture}
}