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Sharp upper bound of the number of edges for graphs of thickness two

A graph $G=(V,E)$ has thickness $2$ if $E$ can be written as a disjoint union $E=E_1\cup E_2$ so that $G_1:=(V,E_1),G_2:=(V,E_2)$ are planar graphs. For instance, $K_5$ has thickness $2$. It is known ...