Walter Didimo Michael Kaufmann 0001 Giuseppe Liotta Giacomo Ortali Computing Bend-Minimum Orthogonal Drawings of Plane Series-Parallel Graphs in Linear Time. 2605-2666 2023 September 85 Algorithmica 9 https://doi.org/10.1007/s00453-023-01110-6 db/journals/algorithmica/algorithmica85.html#DidimoKLO23