Our recently published paper Agent-Based Autonomous Systems and Abstraction Engines: Theory Meets Practice discusses some of the work done on vehicle convoying as part of the Verifiable Autonomy project.
Louise A. Dennis, Jonathan M. Aitken, Joe Collenette, Elisa Cucco, Maryam Kamali, Owen McAree, Affan Shaukat, Katie Atkinson, Yang Gao, Sandor Veres, and Michael Fisher. Agent-based Autonomous Systems and Abstraction Engines: Theory meets Practice. Towards Autonomous Robotic Systems, 17th Annual Conference (TAROS 2016), 2016. Springer LNCS 9716, pages 75-86.