Yes, there are.
This study for France says there is a 1.5% chance of a second wave. This article discusses three different papers modelling successive waves of covid (not only two). As usual, conclusions depend on modelling assumptions and different scenarios. For instance, this article states the outcome depends on how R and other factors (whether the virus mutate or not) behave.
A personal reflection, if I may. The modelling answer has two sides. One is the epidemiological dynamics, and the other is the behavioural one. As an economist, I am particularly concerned with the latter, which I think is particularly difficult to predict and the models above do not consider. Covid-19 was a new thing four months ago and uncertainty led to panic (remember toilet paper buying spree?), significant willingness and openness to testing and, in the end, lockdowns. A second wave will for sure be different. Since the virus is evidently less dangerous as originally imagined (particularly for the population not at-risk, the majority), and most normal people do not want lockdowns again (as it can be seen from the reaction to their easing), there could be less willingness to cooperate with public health authorities. For instance, it might well be that individuals with probably mild cases won't report them. Why bother? This behavioural change could have devastating consequences for the development of a second wave. I would expect any reasonable analysis to incorporate this and other behavioural responses in the analysis. As said, the above do not consider them.