The waiting time paradox: why is my bus always late? (2018)

There's another thing that happens with busses that makes it worse.

The further behind the previous bus a bus is, the more people will arrive at the bus stop. The more people there are at the stop, the longer the bus has to spend picking them all up and selling them tickets etc. Therefore the delayed bus will tend to experience more delay. The bus behind them will have less people to pick up, so it will spend a shorter time at stops and tend to catch up with the first bus, so the two busses are dragged towards each other.

That bus with more riders on board also has a higher probability of needing to stop to let people off at each location as well, slowing it down even further!

Robotic buses could be made smaller than driver buses since the cost of driver doesn't need to be amortized as many passengers as possible. Then you could implement optional stop skipping. At the end of the spectrum you have Uber X ie taxi with ride sharing.