In this chapter, we investigate the potential integration of innovative mobility modes with urban public transport. We emphasize the design of future autonomous on-demand transport systems in the future and the interactions of these systems with public transport. These new modes pose several implementation challenges for public transport system design, including strategic, tactical, and operational choices when projecting the implementation. The impact on the overall urban transport systems is considered along with sustainability. We will review the current literature and state of the art, investigate technological developments, and finally develop some visions and research perspectives on the future integration of on-demand transport in public transport systems.