\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{arrows,automata}
\begin{document}
%\renewcommand{\baselinestretch}{1}
\begin{tikzpicture}[->,>=stealth',auto,node distance=2.8cm,semithick,
every state/.style={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)