ABSTRACT
Planar straight-line drawings have been an early subject of investigation in combinatorial mathematics. A classic result states that every planar graph admits a planar straight-line drawing. Namely, if a graph can be drawn with no crossings using edges of arbitrary shape (e.g., polygonal lines or curves), then it can be drawn with no crossings using only straightline edges (see Figure 6.1). The proof of this result was independently discovered by Steinitz and Rademacher [SR34], Wagner [Wag36], Fary [Fa´r48], and Stein [Ste51].
