Ashim Garg Giuseppe Liotta Almost Bend-Optimal Planar Orthogonal Drawings of Biconnected Degree-3 Planar Graphs in Quadratic Time. 38-48 1999 conf/gd/1999 Graph Drawing http://link.springer.de/link/service/series/0558/bibs/1731/17310038.htm db/conf/gd/gd1999.html#GargL99