Fuzzy c-Means Herding
نویسنده
چکیده
Herding is the process of bringing individuals (e.g. animals) together into a group. More specifically, we consider self– organized herding as the process of moving a set of individuals to a given number of locations (cluster centers) without any external control. We formally describe the relation between herding and clustering and show that any clustering model can be used to control herding processes. For the specific case of the fuzzy c–means model we derive the equations of the fuzzy c–means herding algorithm using a gradient descent approach with limited step size. Several experiments related to an autonomous mobile robot scenario show that fuzzy c– means herding yields smooth trajectories, well–balanced clusters, and fast convergence. Keywords— Fuzzy clustering, herding, robot swarms, swarm intelligence.
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