Cleaning Robot

最新推荐文章于 2022-10-17 22:29:33 发布

不爱算数的枕

最新推荐文章于 2022-10-17 22:29:33 发布

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解决移动机器人在有家具的矩形房间中清洁地板的路径规划问题。机器人可以改变脏瓷砖为干净瓷砖，但不能经过障碍物。任务是计算机器人将所有脏瓷砖变为干净瓷砖所需的最少移动次数。

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Description

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 ... c_1w
c₂₁ c₂₂ c<