Sergey Bereg Prosenjit Bose Adrian Dumitrescu Ferran Hurtado Pavel Valtr Traversing a set of points with a minimum number of turns. 46-55 2007 conf/compgeom/2007 Symposium on Computational Geometry http://doi.acm.org/10.1145/1247069.1247077 db/conf/compgeom/compgeom2007.html#BeregBDHV07