A boy, a girl and a dog go for a 10 mile walk. The boy and girl can walk at 2 mph and the dog can trot at 4 mph. They also have a bicycle which only one of them (including the dog!) can use at a time. When riding, the boy and girl can travel at 12 mph while the dog can pedal at 16 mph. What is the shortest time in which all three can complete the trip?