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Applications in areas such as logistics, cargo delivery, and collective transport involve the management of fleets of vehicles that are expected to travel along known routes according to schedules. There is a fundamental need by the infrastructure surrounding the vehicles to know the actual status of the vehicles. Since the vehicles deviate from their schedules due to road construction, accidents, and other unexpected conditions, it is necessary for the vehicles to communicate with the infrastructure. Frequent updates introduce high communication costs, and server-side updates easily become a bottleneck. This paper presents techniques that enable the tracking of vehicle positions and arrival times at scheduled stops with little communication, while still offering the desired accuracy to the infrastructure of the status of the vehicles. Experimental results with real GPS data from buses show that the proposed techniques are capable of reducing the number of updates significantly compared to a state-of-the art approach where vehicles issue updates at pre-defined positions along their routes.