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I haven't done it in a while, but I seem to remember that something like this worked.
Might need a bit of tuning of jump drives and/or generators, and possibly the use of system upgrades, so that the escorts are ready to jump again before the flag ship.
Using this Mod, set the Ships to "Attack All Enemies" or something and then setup a looping "jump to sector" orderchain.
The only thing you have to make sure is that your "jumpdrive" does not insta-recharge, so the AI has time to realize there are enemies in the sector it is in.
If the Ship then jumps into a sector with enemies in it, the Auto AI will take over, until the enemies are beaten.
You can also set the AI to run away if a certain shield / hull threshold is reached - the AI will then run away.
I think I also saw the ai return once it was healed (passive shield / hull regen) and went back into the fight if I remember it correctly.
I use this mod on my game to setup my fleet to auto-flee in big fights if they reach critical hull (30%).
Suppose you could, but you'd want to take in account the jump times of your ships. They wouldn't be synchronized.
The escorting isn't a perfect idea, because you'd only have the time it takes for your flagship to recharge it's drive before it jumps again, and none of the ships would seek out any enemies that aren't within a close proximity (about 10km).
The best way to arm your systems, is to just simply station ships there on "patrol", or simply "attack enemies". The way i defend my own sectors is by creation a factory as a type of military outpost armed with long range weaponry and fighter bays. Issuing it the command to attack enemies will send out fighters whenever enemies enter the sector.
Without the use of mods, what you're asking currently isn't possible, though it may be when 2.0 comes around?