This project spans three components of Cyber-Physical Systems. (i) For the communication part, we design networking protocols for accelerated and efficient data collection from heterogeneous mobile systems. (ii) For the computation part, we analyze these collected data to formulate generic models to capture urban phenomena (such as travel pattern, traffic speed, human mobility, passenger demand, and transit supply) by advanced data analytics (such as data fusion, model integration, and interactive visualization). (iii) For the control part, we utilize these formulated models to design advanced applications such as last-mile transit, ridesharing, dispatching and navigation to provide positive feedback to urban systems by robust control (such as receding horizon optimization). As a result, our work formulates a closed-loop data-driven CPS to improve urban mobility by optimizing large-scale urban infrastructures.