Yes it is possible.
Is there a github repository or something like that to fork this project ?

no, but if it doesn't have an active maintainer I could put it up somewhere.
Edit: looks like the author has been on recently so I don't know why they haven't chimed in

I think you can trigger PB actions with event controller, but not sure about taking inputs from AI block directly.
Sorry for late response, it's just that I don't get notifications when new discussion created :\

Neither do I :P
My original thought with this was that with new AI blocks, you can have a rover follow you or another rover, a I keep wanting to play the Scrapyard scenario with a mobile operation but its just much easier to have one vehicle for lifting and one for hauling, but doing something to keep them together is then annoying. so a convoy is an attractive idea