1. A traffic control system comprising: a primary controller, the primary controller for receiving information about traffic in an area; and a plurality of subsidiary controllers for providing information to and receiving information from the primary controller, each of the plurality of subsidiary controllers being associated with a cell within the area; each of the subsidiary controllers receiving and providing information to at least one vehicle concerning traffic conditions within its associated cell, wherein the primary controller and each of the subsidiary controllers are capable of negotiating a change in the flow of traffic based upon traffic conditions, wherein at least one vehicle includes roles and permission sets, wherein the traffic control system can determine the appropriate route for the at least one vehicle based upon the roles and permission sets.