Leaving Raven Rock

Yes, they each wait in a certain place (The same place they go if you "fire" them)

Charon - I think he'll be hanging around the Ninth Circle, where you first hired him.

Dogmeat - He should be hanging around the entrance to Vault 101 (Not in the cave, just outside of it)

Clover - I think she'll be back in Paradise Falls. Not too sure about this one.

Sergeant RL-3 - I think he'll be back with Tinker Joe. If you already bought him, he can be hired back for free, as long as you still meet the Karma Requirement.

Fawks - Hangs out inside the Museum of History, just outside of Underworld

Star Paladin Cross - Should be back at the Citadel.

Butch - He'll be back at the Muddy Rudder.

Jericho - Will be somewhere in Megaton.

Hope this helps. For all the above, you still need to have their Karma requirements when you hire them back (Example: If you hired Jericho when you were evil, lost him, then became good, he won't adventure with you until you're evil again). Obviously, the exceptions to this rule are Charon and Dogmeat, who will adventure with you regardless of your Karma.