A system for cooperative aerial vehicle collision avoidance, comprising: a plurality of electronically scanned array, ESA, antenna angularly distributed and mounted onboard a first aerial vehicle, the plurality of ESA antenna configured for a spherical radar coverage around the first aerial vehicle; a directional communication system onboard the first aerial vehicle configured for a directional collision avoidance communication network, DCACN, between the first aerial vehicle and at least one of a threat aerial vehicle; a positioning system onboard the first aerial vehicle configured for providing a three-dimensional, 3D, positioning and a velocity of the first aerial vehicle; a controller onboard the first aerial vehicle operatively coupled with each of the plurality of ESA antenna, the directional communication system, and the positioning system; a tangible, non-transitory memory onboard the first aerial vehicle configured to communicate with the controller, the tangible, non-transitory memory maintains a first maneuvering capability of the first aerial vehicle, the tangible, non-transitory memory having instructions stored therein that, in response to execution by the controller, cause the controller to: receive a first 3D position and a first vector of the first aerial vehicle from the positioning system; command the plurality of ESA antenna to sense the threat aerial vehicle via the plurality of ESA antenna; receive a sensed data from the plurality of ESA antenna the sensed data representative of the threat aerial vehicle; determine a threat position and a threat vector of the threat aerial vehicle based on the sensed data; establish the DCACN between the first aerial vehicle and the at least one of the threat aerial vehicle via the directional communication system; communicate with the threat aerial vehicle via the DCACN; determine a threat maneuvering capability of the threat aerial vehicle based on one of: a received signal including a certification maneuvering category via the DCACN, a size-based maneuvering category based on the sensed data, and a speed-based maneuvering category based on the threat vector; compare the threat maneuvering capability with the first maneuvering capability; generate a first maneuver for the first aerial vehicle and a threat maneuver for the threat aerial vehicle based on the first position, the first vector, the threat position, the threat vector, and the comparison, each of the first maneuver and the threat maneuver configured to provide a separation between the first aerial vehicle and the threat aerial vehicle; direct at least one of; a pilot and an autopilot onboard the first aerial vehicle to execute the first maneuver. a plurality of electronically scanned array, ESA, antenna angularly distributed and mounted onboard a first aerial vehicle, the plurality of ESA antenna configured for a spherical radar coverage around the first aerial vehicle; a directional communication system onboard the first aerial vehicle configured for a directional collision avoidance communication network, DCACN, between the first aerial vehicle and at least one of a threat aerial vehicle; a positioning system onboard the first aerial vehicle configured for providing a three-dimensional, 3D, positioning and a velocity of the first aerial vehicle; a controller onboard the first aerial vehicle operatively coupled with each of the plurality of ESA antenna, the directional communication system, and the positioning system; a tangible, non-transitory memory onboard the first aerial vehicle configured to communicate with the controller, the tangible, non-transitory memory maintains a first maneuvering capability of the first aerial vehicle, the tangible, non-transitory memory having instructions stored therein that, in response to execution by the controller, cause the controller to: receive a first 3D position and a first vector of the first aerial vehicle from the positioning system; command the plurality of ESA antenna to sense the threat aerial vehicle via the plurality of ESA antenna; receive a sensed data from the plurality of ESA antenna the sensed data representative of the threat aerial vehicle; determine a threat position and a threat vector of the threat aerial vehicle based on the sensed data; establish the DCACN between the first aerial vehicle and the at least one of the threat aerial vehicle via the directional communication system; communicate with the threat aerial vehicle via the DCACN; determine a threat maneuvering capability of the threat aerial vehicle based on one of: a received signal including a certification maneuvering category via the DCACN, a size-based maneuvering category based on the sensed data, and a speed-based maneuvering category based on the threat vector; compare the threat maneuvering capability with the first maneuvering capability; generate a first maneuver for the first aerial vehicle and a threat maneuver for the threat aerial vehicle based on the first position, the first vector, the threat position, the threat vector, and the comparison, each of the first maneuver and the threat maneuver configured to provide a separation between the first aerial vehicle and the threat aerial vehicle; direct at least one of; a pilot and an autopilot onboard the first aerial vehicle to execute the first maneuver.