\begin{tikzpicture}[>=stealth']
  \node (bse) at (0,0) {$\left< \mathsf{simple}, \textsc{walk}, \mathrm{walk} \right>$};
  \node (s) at (-3,-2) {$\left< \mathsf{third}, \textsc{walk}, \mathrm{walk\#s} \right>$};
  \node (ed) at (0,-3) {$\left< \mathsf{allpast}, \textsc{walk}, \mathrm{walk\#ed} \right>$};
  \node (ing) at (4,-4) {$\left< \mathsf{present}, \textsc{walk}, \mathrm{walk\#ing} \right>$};

  \draw[->] (bse) to node[fill=white] {$p_1$} (s);
  \draw[->] (bse) to node[fill=white] {$p_2$} (ed);
  \draw[->] (bse) to node[fill=white] {$p_3$} (ing);
\end{tikzpicture}

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