On the bend number of circular-arc graphs as edge intersection graphs of paths on a grid

Golumbic, Lipshteyn and Stern \cite{Golumbic-epg} proved that every graph can be represented as the edge intersection graph of paths on a grid (EPG graph), i.e., one can associate with each vertex of the graph a nontrivial path on a rectangular grid such that two vertices are adjacent if and only if the corresponding paths share at least one edge of the grid. For a nonnegative integer $k$, $B_k$-EPG graphs are defined as EPG graphs admitting a model in which each path has at most $k$ bends. Circular-arc graphs are intersection graphs of open arcs of a circle. It is easy to see that every circular-arc graph is a $B_4$-EPG graph, by embedding the circle into a rectangle of the grid. In this paper, we prove that every circular-arc graph is $B_3$-EPG, and that there exist circular-arc graphs which are not $B_2$-EPG. If we restrict ourselves to rectangular representations (i.e., the union of the paths used in the model is contained in a rectangle of the grid), we obtain EPR (edge intersection of path in a rectangle) representations. We may define $B_k$-EPR graphs, $k\geq 0$, the same way as $B_k$-EPG graphs. Circular-arc graphs are clearly $B_4$-EPR graphs and we will show that there exist circular-arc graphs that are not $B_3$-EPR graphs. We also show that normal circular-arc graphs are $B_2$-EPR graphs and that there exist normal circular-arc graphs that are not $B_1$-EPR graphs. Finally, we characterize $B_1$-EPR graphs by a family of minimal forbidden induced subgraphs, and show that they form a subclass of normal Helly circular-arc graphs.