We rely on maps to keep us oriented, but sometimes they aren’t enough to understand the city's complete layout. Each city grew to meet its changing needs and has its own method of dealing with chaos: streets that change their name for no discernible reason, passages that end at water, and diagonal avenues that cross numbered and lettered streets at the same time. To truly make sense of it all, we need to learn a little more about their past. Here are 10 legendary cities where unravelling their history is the secret to finding your way.