\begin{figure}[H]
  \begin{center}
    \unitlength=4pt
    \begin{picture}(40, 16)(0,-8)
    \gasset{Nw=5,Nh=5,Nmr=2.5,curvedepth=0}
    \thinlines
    \node[Nmarks=if,iangle=180,fangle=180](A1)(0,0){$1$}
    \node(A2)(20,0){$2$}
    \node(A3)(40,0){$3$}
    \drawedge(A1,A2){$1$}
    \drawedge(A2,A3){$a$}
    \drawloop[loopangle=90](A1){$a$}
    \drawloop[loopangle=90](A2){$b$}
    \drawloop[loopangle=90](A3){$b$}
    \gasset{curvedepth=8}
    \drawedge(A3,A1){$1$}
    \end{picture}
  \end{center}
  \caption{Un automate asynchrone.}
\end{figure}