A fleet management system coordinates multiple autonomous vehicles (AVs) to transport a group of passengers from one location to another. A single user can submit a request to the fleet management system to provide a ride for the group, the request specifying the number of passengers and the pickup location. The fleet management system determines a number of AVs to transport the group based on the number passengers, and dispatches this number of AVs to the pickup location. The AVs pick up the passengers at the pickup location, drive the passengers to a destination, and drop the passengers off at the destination.