John H. Reif, James A. Storer. Minimizing turns for discrete movement in the interior of a polygon. IEEE Transactions on Robotics, 3(3):182-193, 1987. [doi]
@article{ReifS87-0,
title = {Minimizing turns for discrete movement in the interior of a polygon},
author = {John H. Reif and James A. Storer},
year = {1987},
doi = {10.1109/JRA.1987.1087092},
url = {http://dx.doi.org/10.1109/JRA.1987.1087092},
researchr = {https://researchr.org/publication/ReifS87-0},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {3},
number = {3},
pages = {182-193},
}