Draw Networks on Latex

I have a project for which I need to draw multi-agent systems as networks in Latex. These nodes need to be annotated and the output I require is in Latex format. Thus, I am looking for someone with solid knowledge of Latex, who can draw these networks and provide comprehensive annotation for the same. I would like to receive a PDF, a solid image, and a Latex file as the output from this project. I will need about 3-5 images drawn and the attached image is a sample figure just to give a hint on what to expect.