The United States Department of Agriculture has a rural development program. High density cities for human settlements provides housing above businesses but also in multi-family housing projects. Here is Agenda 21's vision of human settlements.
Remembering the United Nations (UN) program "The Future We Want", here is a pilot project they are working on in Kansas City, Missouri. The United Nations designing an American city. Here is a UN document describing the benefits of social housing, look at page 70.
The UN also promotes the development and use of mass transportation and limited car use for the sake of the environment. But it also removes freedom. The federal government has created an interagency partnership between the Department of Transportation, Environmental Protection Agency, and Housing and Urban Development. This Partnership for Sustainable Communities promotes transportation choices that reduce car use.
Chapter 7.5.(a)(e) of Agenda 21 calls for shelter for all and transport systems for human settlements. If you look around the Boise area you will notice the increase in multi-family housing units and the ongoing discussion about mass transportation development in downtown Boise. Just a couple more areas that Agenda 21 is being accomplished in Idaho.