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Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm of heterogeneous robots that self-aggregate over distinct target sites. A previous study has shown that including as part of the swarm a number of informed robots can steer the dynamic of the aggregation process to a desirable distribution of the swarm between the available aggregation sites. We have replicated the results of the previous study using a simplified approach: we removed constraints related to the communication protocol of the robots and simplified the control mechanisms regulating the transitions between states of the probabilistic controller. The results show that the performances obtained with the previous, more complex, controller can be replicated with our …