Okay, I will do that in great detail below, and you can do many of these steps at once, of course. Instantiating all cases for p and q yields:
    p q
    0 0  (0 <-> a V b & Xp) ^ (0 <-> 0 V a & Xq)
    0 1  (0 <-> a V b & Xp) ^ (1 <-> 0 V a & Xq)
    1 0  (1 <-> a V b & Xp) ^ (0 <-> 1 V a & Xq)
    1 1  (1 <-> a V b & Xp) ^ (1 <-> 1 V a & Xq)
and thus
    p q
    0 0  !(a V b & Xp) ^ !(0 V a & Xq)
    0 1  !(a V b & Xp) ^  (0 V a & Xq)
    1 0   (a V b & Xp) ^ !(1 V a & Xq)
    1 1   (a V b & Xp) ^  (1 V a & Xq)
which simplifies to (note that x&phi is equivalent to x&(phi[x<-1]))
    p q
    0 0  !(a V b & Xp) ^ !(a & Xq)
    0 1  !(a V b & Xp) ^ a & Xq
    1 0   0
    1 1   (a V b & Xp) 
and further to 
    p q
    0 0  !(a V b & Xp) ^ !(a & Xq)
    0 1  !(1 V b & Xp) ^ a & Xq
    1 0   0
    1 1   (a V b & Xp) 
which results in
    p q
    0 0  !(a V b & Xp) ^ !(a & Xq)
    0 1  0
    1 0  0
    1 1  a V b & Xp 
So, we have no outgoing transitions in states {p} and {q}. For state {p,q}, we have outgoing transitions for a to anyone of the four states, and for b to the states {p} and {p,q} since Xp must hold then. 
The transitions of state {} are more difficult. We further simplify the transition relation and get the following
    !(a V b & Xp) ^ !(a & Xq)
    = !a & !(b & Xp) ^ !(a & Xq)
    = !a & !(b & Xp) ^ !(0 & Xq)
    = !a & !(b & Xp) ^ !(0)
    = !a & !(b & Xp) 
    = !a & (!b | !Xp)
    = !a & !b | !a & !Xp     Hence, we have transitions to anyone of the four states with !a&!b and to the states {} and {q} for input !a.