A collision avoidance system (CAS) airborne unit onboard an aerial platform of a first priority level includes a navigational module to determine current position of the aerial platform； a communication module to intermittently transmit a localization transmission, and to receive intermittently transmitted localization transmissions from another CAS airborne unit on-board another lower priority level aerial platform； and a processor to calculate, based on the received intermittently transmitted localization transmissions and on a current location, speed and heading of the CAS airborne unit, a collision risk between the aerial platform and the other aerial platform, and to generate one or a plurality of steering commands and cause a transmission of one or a plurality of a steering commands to be performed by the other aerial platform and to cause the steering commands to be transmitted by the communication module to the other CAS airborne unit.
