Influence of view radii on consensus

We propose a modified version of the Vicsek model with heterogeneous view radii. In our model, the influencing radius determines each agent´s influencing ability, that we set the view radii of agents with three different distributions. It is found that as the system become more heterogeneous the consensus level improved a lot. A few hub agents play very important role in this interesting phenomenon. Moreover, we have studied the noise performance about heterogeneous system compare with homogeneous system. It comes to that result we want. This work may be beneficial to understand consensus behavior in swarms system consisted of mobile agents.