The introduction of driver-less technologies can improve on-demand transport (ODT) systems and help make passenger transportation and logistics more efficient. Here, we aim to provide a generic model of the online ODT with autonomous vehicles problem and a multiagent model specific to resource allocation and scheduling in vehicle fleets. Our model considers autonomous vehicles that communicate via peer-to-peer radio channels to meet passenger requirements and satisfy trip requests in an online ODT system. We experiment this model with several allocation mechanisms (mathematical programming, greedy heuristic, distributed constraint optimization, and auctions) and compare their performance on synthetic scenarios on a real-world city road network.