System and methods for a decentralized hybrid air-ground autonomous last-mile goods delivery are disclosed herein. A drone can include a controller configured to cause the drone to depart from a docking station of a vehicle, transmit a discovery message to available vehicles in an operating area, the discovery message having drone metadata, select at least one of one of the available vehicles based on response codes received from the available vehicle, or a nearest fixed docking station, and dock with a docking station of the one of the available vehicles or the nearest fixed docking station.