In domains such as transportation or medical technology, applications are often developed as Multi-Agent Systems (MAS). The usage of formal methods in this context has not been much addressed. With our experience with the B modelisation of the platooning problem as a base, we aim at demonstrating how the development and the verification of such systems using formal methods can be supported.The successive versions of the B models tended towards a more generic architecture that experts of the domain matched with a well-known MAS model.