On k-convex polygons

We introduce a notion of k-convexity and explore polygons in the plane that have this property. Polygons which are k-convex can be triangulated with fast yet simple algorithms. However, recognizing them in general is a 3SUM-hard problem. We give a characterization of 2-convex polygons, a particularly interesting class, and show how to recognize them in O(n log n) time. A description of their shape is given as well, which leads to Erdős-Szekeres type results regarding subconfigurations of their vertex sets. Finally, we introduce the concept of generalized geometric permutations, and show that their number can be exponential in the number of 2-convex objects considered.