## 1 Introduction  
Cities in developing countries such as Colombia face mobility problems, such as high traffic congestion on roads, high traffic accident rates, and high levels of air pollution and noise. Many of these problems are caused by public transportation [1, 2]. Therefore, a system seeking to improve control and monitoring of transit vehicles for cities of Colombia and other Latin American countries could indirectly contribute to improving the mobility problems of such cities. Medium-sized cities (with populations between 100,000 and 1,000,000 inhabitants) use \"collective\" service as the principal transit service. \"Collective\" service is provided by small buses or vans with a capacity between 12 and 20 passengers, through public roads with other types of vehicles (e.g., private vehicles). The service has specific stops for passenger pick up/drop off, but a considerable number of users and drivers do not respect this, stopping anywhere along their route. The \"collective\" service also has problems related to speeding, noncompliance with regulations, vehicle routes, schedules, and frequencies [3; 4]. Information and Communication Technologies (ICT) emerge as the best option for the implementation of an efficient transport system because they allow centralized traffic control, navigation, security, access to travel information, and real-time assistance, among other services [5]. Such systems belong in this work to the context of the Intelligent Transportation Systems (ITSs) and Fleet Management and Control Systems (FMCSs) [6; 7]. The Fleet Management Control Systems (FMCS) are responsible for controlling vehicle operation and evaluating compliance with scheduled services. An FMCS monitors vehicles in real-time and generates alerts when events happen. In general, Fleet Management Systems (FMS) reduce risks, increase the quality of service, and improve operational efficiency at a minimal cost [8]. The increase of quality in transit service implies providing a better service to users. The main need for users of \"collective\" public transport is to know the current location of the vehicle they are waiting for, to be able to roughly calculate the approximate time of arrival at a stop [9]. To determine the current location of the transit vehicle, it is necessary to continuously track its location (with the use of ICT); then, by factoring variables as actual traffic level and historic route time history, an approximate time of arrival at a certain stop can be calculated. Uncertainty about the timely arrival of the vehicle is one of the main reasons why the level of use of this means of transport is relatively low in times of low demand [7]. Hence, continuous monitoring of the transit vehicle is a very important requirement to consider in an FMCS, to improve the quality and usability of the transit service. FMCS can improve operational efficiency in aspects such as fuel consumption, which is a considerable percentage of operational cost. Fuel consumption generates CO\({}_{2}\) emissions, which considerably affect the air quality of a city [10; 11]. Fuel consumption is related to the way the vehicle is driven [12], so monitoring the speed of a vehicle on the route can help to identify inappropriate driving behaviors, e.g., running a red light [13]. Speed control is also an important factor for reducing risks, considering that one of the main causes of road accidents in the world is speeding. Therefore, speed control of the vehicle along its route is an important requirement of an FMCS, to reduce risks and decrease fuel consumption. FMCS developed recently commonly use cellular data transfer (GSM, GPRS, or LTE) for communication between transit vehicles and control centers, which causes issues related to high operating costs, and difficulty in maintaining the system [14].