A method for avoiding collision of an unmanned arial vehicle, UAV, with one or more objects in an airspace serviced by a mobile edge computing, MEC, node, the method comprising: detecting, by the UAV, a risk of collision with one or more objects in the airspace; determining, by the UAV, a first resolution advisory, RA, to be acted on in order to avoid the collision with the one or more objects based on a local detect and avoid, DAA, function within the UAV, wherein the first RA comprises a first one or more actions for the UAV to perform in the airspace to avoid the collision; receiving, by the UAV, from the MEC node, a second resolution advisory RA to be acted on in order to avoid the collision with one or more objects based on an edge detect and avoid (edge-DAA) function provided by the MEC node, wherein the edge-DAA function is implemented at a higher confidence level by providing broader range than the local DAA function within the UAV, wherein the second RA comprises a second one or more actions for the UAV to perform in the airspace to avoid the collision; and on condition that the received second RA from the MEC node avoid the collision with the one or more objects but does not satisfy the local constraints of the UAV, wherein the local constraints comprise avoiding collision with an obstacle detected by the local DAA of the UAV and being unknown by the edge-DA function of the MEC node: acting the UAV on the determined first RA and sending, from the UAV, to the MEC node, a first message with a negative acknowledgement, wherein the first message further comprises information indicating the determined first RA; and receiving, by the MEC node, from the UAV, the determined first RA and updating the second RA based on the determined first RA. detecting, by the UAV, a risk of collision with one or more objects in the airspace; determining, by the UAV, a first resolution advisory, RA, to be acted on in order to avoid the collision with the one or more objects based on a local detect and avoid, DAA, function within the UAV, wherein the first RA comprises a first one or more actions for the UAV to perform in the airspace to avoid the collision; receiving, by the UAV, from the MEC node, a second resolution advisory RA to be acted on in order to avoid the collision with one or more objects based on an edge detect and avoid (edge-DAA) function provided by the MEC node, wherein the edge-DAA function is implemented at a higher confidence level by providing broader range than the local DAA function within the UAV, wherein the second RA comprises a second one or more actions for the UAV to perform in the airspace to avoid the collision; and on condition that the received second RA from the MEC node avoid the collision with the one or more objects but does not satisfy the local constraints of the UAV, wherein the local constraints comprise avoiding collision with an obstacle detected by the local DAA of the UAV and being unknown by the edge-DA function of the MEC node: acting the UAV on the determined first RA and sending, from the UAV, to the MEC node, a first message with a negative acknowledgement, wherein the first message further comprises information indicating the determined first RA; and receiving, by the MEC node, from the UAV, the determined first RA and updating the second RA based on the determined first RA. acting the UAV on the determined first RA and sending, from the UAV, to the MEC node, a first message with a negative acknowledgement, wherein the first message further comprises information indicating the determined first RA; and receiving, by the MEC node, from the UAV, the determined first RA and updating the second RA based on the determined first RA. <EOS>