Yadav green-flagged a fleet of 10 cabs fitted with GPS at the state museum in Dampier Nagar area here.
An official said that due to paucity of time, the chief minister could not travel to Agra and, therefore, launched the service in Mathura itself.
The chief minister said Agra was a prominent tourist centre and a facility of this nature was long overdue.
The state government has decided to introduce radio taxi services in 13 municipal corporations of the state.
The minimum charge will be Rs.50 up to 2.5 km. Thereafter, it will be Rs.20 per km. Waiting charges would be Rs.50 per hour.