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There are many forms of state diagrams who differ slightly and have a different semantics. The following are examples:
A classic form of a state diagram for a finite state machine is a directed graph where
In practice, vertices are normally represented by circles and, if needed, double circles are used for accept states.
S1 and S2 are states and S1 is an accept state. Each edge is labeled with the input.
S0, S1, and S2 are states. Each edge is labeled with "j / k" where j is the input and k is the output.
Harel statecharts (developed in 1987 by David Harel) are gaining some more widespread usage since a variant has become part of UML. The diagram type allows to model superstates, concurrent state diagrams and e.g. to model activities as part of a state.
Classic state diagrams are so called "or" diagrams, because the machine can only be in one state or the other. With harel statecharts it is possible to model "and" machines, where a machine is in two or more states at the same time. This is due to the possibility of having superstates.
D. Harel. Statecharts: A visual formalism for complex systems. Science of Computer Programming, 8(3):231--274, June 1987.
Graphs