MILWAUKEE — Overnight in dozens of cities across the U.S., the electric scooters arrive, often without warning to public officials, parked along sidewalks and ready to be taken for a spin with a few taps on a smartphone.

It’s not long before they attract attention — and it’s not always positive: Lawsuits and cease-and-desist orders have sometimes followed the arrival of California-based companies Bird Rides Inc., LimeBike and Spin, with city officials saying the scooters aren’t legal to operate on streets or the sidewalks where they get dangerously close to pedestrians. And because the scooters are dockless, they’re parked anywhere when a ride is over, causing cities heartburn over blocked sidewalks.

On Friday, Milwaukee will ask a judge to order Bird to remove its scooters from the city.