If you want to make a Finite State Machine (such as a DFA), there is a web interface that you can use located at http://madebyevan.com/fsm/. It outputs LaTeX that uses the tikz
package.
Your example would be:
\documentclass[12pt]{article}
\usepackage{tikz}
\begin{document}
\begin{center}
\begin{tikzpicture}[scale=0.2]
\tikzstyle{every node}+=[inner sep=0pt]
\draw [black] (25.3,-12.8) circle (3);
\draw (25.3,-12.8) node {$a$};
\draw [black] (20.6,-26.9) circle (3);
\draw (20.6,-26.9) node {$b$};
\draw [black] (51,-13.4) circle (3);
\draw (51,-13.4) node {$c$};
\draw [black] (45.4,-28.1) circle (3);
\draw (45.4,-28.1) node {$d$};
\draw [black] (63.1,-26.9) circle (3);
\draw (63.1,-26.9) node {$e$};
\draw [black] (23.144,-10.731) arc (253.92142:-34.07858:2.25);
\fill [black] (25.63,-9.83) -- (26.33,-9.2) -- (25.37,-8.92);
\draw [black] (19.493,-29.676) arc (5.98721:-282.01279:2.25);
\fill [black] (17.72,-27.71) -- (16.88,-27.3) -- (16.98,-28.29);
\draw [black] (48.39,-27.9) -- (60.11,-27.1);
\fill [black] (60.11,-27.1) -- (59.27,-26.66) -- (59.34,-27.66);
\draw [black] (66.077,-26.639) arc (122.74949:-165.25051:2.25);
\fill [black] (65.12,-29.1) -- (65.13,-30.05) -- (65.97,-29.51);
\draw [black] (44.011,-30.746) arc (0.02737:-287.97263:2.25);
\fill [black] (42.45,-28.61) -- (41.65,-28.11) -- (41.66,-29.11);
\draw [black] (51.016,-10.412) arc (207.43495:-80.56505:2.25);
\fill [black] (53.38,-11.59) -- (54.32,-11.67) -- (53.86,-10.78);
\draw [black] (44.931,-25.143) arc (-177.46822:-224.2407:13.275);
\fill [black] (44.93,-25.14) -- (45.4,-24.32) -- (44.4,-24.37);
\draw [black] (50.753,-16.388) arc (-8.43582:-33.27309:23.182);
\fill [black] (50.75,-16.39) -- (50.14,-17.11) -- (51.13,-17.25);
\end{tikzpicture}
\end{center}
\end{document}
With the output: