Public sensing is an application in which sensory systems embedded in smart devices, vehicles, residential and public spaces form a collective cloud of data sources from which multi-owned access points realize end-users' service requests. This conception can be further extended under the umbrella of integrated RFID-Sensor Networks (RSNs) to include RFID systems. Such a configuration is heterogeneous by nature and faces many challenges in terms of data delivery and resource management. In this paper, we represent a Reciprocal Public Sensing (RPS) scheme for integrated RSN architectures. Our scheme incorporates heuristic solutions for static sensors and mobile data collectors, in addition to a reciprocal agreement for data exchange over the tiers of the proposed architecture adhering to the social welfare of the network as a whole. We provide simulation results showing how RPS outperforms other data delivery schemes in terms of minimizing delay, packet loss, and energy consumption, in addition to prolonging the overall network lifetime.