Centrally controlled smart transportation systems (500) can provide point-to-point transportation of people and goods. The systems may be configured to allocate tunnelled routes to individual vehicles. Travel of different vehicles can be coordinated so that vehicles can cross level intersections (325-1, 325-2, 325-3) without stopping and without collisions. A transportation system may include a hierarchical network of controllers that control individual vehicles to maintain allowed positions that have been reserved for the vehicles in traffic streams.