digraph G 
{
 	DETfsm -> MOVEfsm [label=" Border alert "];
 	DETfsm -> MOVEfsm [label=" Enemy ahead "];
	DETfsm -> MAINfsm [label=" Bottle "];
	DETfsm -> MAINfsm [label=" Start "];

 	MAINfsm -> MOVEfsm [label=" Go "];
 	MAINfsm -> MOVEfsm [label= " Plan route "];
	MAINfsm -> MOVEfsm [label=" Start "];
 	MAINfsm -> PICKUPfsm [label= " Throw trash "];
	MAINfsm -> PICKUPfsm [label= " Try Grab "];
	MAINfsm -> PICKUPfsm [label= " Start "];	
	
	MOVEfsm -> MAINfsm [label= " Enenemy " ];
	MOVEfsm -> MAINfsm [label= " Way done" ];

	PICKUPfsm -> MAINfsm [label= " Yes/no/reverse "];
	PICKUPfsm -> MAINfsm [label= " Full "];
}