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my initial state : !p & !q

when simplifying the transition formula i get: (!q | !a & !nextq | !p & o !nextp & !nextq). I wanted to know how do I draw transitions from this formula.
in * TF "Emb. Sys. and Rob." by (250 points)
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I think your simplification is wrong. I computed BDDs for the original formula and yours and these are different. From the BDD of the original formula, you can get the transitions you are interested in.

Bytheway, a minimal DNF of the transition relation is 

  • !p&!q&o&!next(q) | !p&!a&o&!next(q) | !p&o&!next(p)&!next(q)
by (165k points)

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