I. Introduction
Mobility-on-Demand (MoD) transportation systems promise to combine the convenience of motorized individual transport with the environmental friendliness and price of conventional public transit [1]. In this work, we consider coordinated MoD systems, in which there are no autonomous decisions at the vehicle level, thereby ruling out uncooperative behavior; this corresponds to the category of “dynamic real-time ridesharing” systems described in [2] with the additional condition that the vehicles belong to an operator, not the users. Such systems have the potential to improve existing transportation systems in many ways, e.g., by increasing accessibility [3], improving public transportation in rural areas [4], and lowering cost for users [5].