Before revision:  We also investigate the effect of heterogeneity on the "flocking behavior" of different agents, i.e., when agents with different dynamics end up behaving the same way in path space and follow closely the mean behavior of the system.
After revision:  We also investigate the effect of heterogeneity on the "flocking behavior" of different agents, i.e., when agents with different dynamics end up following very similar paths and follow closely the mean behavior of the system.