Abstract: Systems and Methods for controlling vehicles in a multi-modal transportation network having fixed schedule vehicles and commuter vehicles, including a receiver to receive a request for transportation from passengers in a set of passengers. Jointly optimize travel times of the passengers to reach their corresponding target locations. The joint optimization is based on identifying groups of passengers from the set of passengers to obtain a set of groups of passengers. Assign an identified group to a commuter vehicle leaving or reaching an intermediate location, according to a schedule from a set of schedules associated with the identified group, by optimizing jointly a function of a total travel time of the set of passengers, according to at least one schedule of the set of schedules associated with each group, to obtain an assigned travel itinerary for each passenger. Transmit to each passenger their assigned travel itinerary in the network.