CLEANRBT - Cleaning Robot


Here, we want to solve path planning for a mobile robot cleaning a rectangular room floor with furniture.

Consider the room floor paved with square tiles whose size fits the cleaning robot (1 × 1). There are 'clean tiles' and 'dirty tiles', and the robot can change a 'dirty tile' to a 'clean tile' by visiting the tile. Also there may be some obstacles (furniture) whose size fits a tile in the room. If there is an obstacle on a tile, the robot cannot visit it. The robot moves to an adjacent tile with one move. The tile onto which the robot moves must be one of four tiles (i.e., east, west, north or south) adjacent to the tile where the robot is present. The robot may visit a tile twice or more.

Your task is to write a program which computes the minimum number of moves for the robot to change all 'dirty tiles' to 'clean tiles', if ever possible.

Input

The input consists of multiple maps, each representing the size and arrangement of the room. A map is given in the following format.

w h
c11 c12 c13 ... c1w
c21 c22 c23 ... c2w
...
ch1 ch2 ch3 ... chw

The integers w and h are the lengths of the two sides of the floor of the room in terms of widths of floor tiles. w and h are less than or equal to 20. The character cyx represents what is initially on the tile with coordinates (x, y) as follows.

'.' : a clean tile
'*' : a dirty tile
'x' : a piece of furniture (obstacle)
'o' : the robot (initial position)

In the map the number of 'dirty tiles' does not exceed 10. There is only one 'robot'.

The end of the input is indicated by a line containing two zeros.

Output

For each map, your program should output a line containing the minimum number of moves. If the map includes 'dirty tiles' which the robot cannot reach, your program should output -1.

Example

Input:
7 5
.......
.o...*.
.......
.*...*.
.......
15 13
.......x.......
...o...x....*..
.......x.......
.......x.......
.......x.......
...............
xxxxx.....xxxxx
...............
.......x.......
.......x.......
.......x.......
..*....x....*..
.......x.......
10 10
..........
..o.......
..........
..........
..........
.....xxxxx
.....x....
.....x.*..
.....x....
.....x....
0 0

Output:
8
49
-1

hide comments
linhptit270540: 2023-09-27 04:48:28

It's easy with bfs + backtrack + branch and bound

khaikheng123: 2022-06-29 10:22:24

1 PUNCH AC
EZ!

maheshwari7778: 2021-03-25 06:05:58

its mst ,its dp+bitmasking

Last edit: 2021-03-25 06:34:00
divyansh97: 2020-11-16 20:42:16

If you feel like you're doing everything right and it still isn't accepting, use long long instead of int

fahad991: 2020-05-28 09:50:42

Got AC ! Very nice problem.

may_007: 2020-03-25 19:45:31

AC in one go

emilio_cosy: 2019-10-01 15:36:28

Could anybody explain why I exceeded the time limit? I used bit masking DP that is similiar to https://www.geeksforgeeks.org/bitmasking-dynamic-programming-set-2-tsp/

ab_biswas09: 2019-03-18 20:37:17

Finally AC , simple TSP with Bitmasking

hieudoan7: 2019-03-04 12:32:46

Finally, I got it.

vengatesh15: 2018-01-23 13:56:09

AC in 1 go :-)


Added by:Camilo Andrés Varela León
Date:2007-07-26
Time limit:0.609s
Source limit:50000B
Memory limit:1536MB
Cluster: Cube (Intel G860)
Languages:All except: ERL JS-RHINO NODEJS PERL6 VB.NET
Resource:Japan Domestic, 2005