It is possible but it won't be as fancy as you might think to turn out to be. In Arma II there is an option to choose your role(ex. Sniper,spotter,machine gunner, squad leader ecc.) and it would group up with your squad(alpha,bravo ecc.). You won't spawn on your teamates but you would see their icons on the map. It is possible to make it so you can spawn on them(Rocket is wizard) but that will mean that you need to choose the same "squad" in the selection menu if you know what I mean. This might end up in random groups being created.