  As autonomous or semi-autonomous vehicles are deployed on the roads, they
will have to eventually start communicating with each other in order to achieve
increased efficiency and safety. Current approaches in the control of
collaborative vehicles primarily consider homogeneous simplified vehicle
dynamics and usually ignore any communication issues. This raises an important
question of how systems without the aforementioned limiting assumptions can be
modeled, analyzed and certified for safe operation by both industry and
governmental agencies. In this work, we propose a modeling framework where
communication and system reconfiguration is modeled through $\pi$-calculus
expressions while the closed-loop control systems are modeled through hybrid
automata. We demonstrate how the framework can be utilized for modeling and
simulation of platooning behaviors of heterogeneous vehicles.
