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Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance (ISR) missions and manned-unmanned teaming. We consider a multi-objective, multiple-vehicle routing problem in which teams of manned ground vehicles (MGVs) and UGVs are deployed respectively in a leader-follower framework to execute missions with differing requirements for MGVs and UGVs while considering human-robot interactions (HRI). HRI studies highlight the costs of managing a team of follower UGVs by a leader MGV. This paper aims to compute feasible paths, replenishments, team compositions and number of MGV-UGV teams deployed such that the requirements for MGVs and UGVs for the missions are met and the path, replenishment, HRI and team deployment costs are at minimum. The problem is first modeled as a a mixed-integer linear program (MILP) that can be solved to optimality by off-the-shelf commercial solvers for small-sized instances. For larger instances, a variable neighborhood search algorithm is offered to compute near optimal solutions and address the challenges that arise when solving the combinatorial multi-objective routing optimization problem. Finally, computational experiments that corroborate the effectiveness of the proposed algorithms are presented.