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A method of collision avoidance for point mass UAVs (own and intruder) with constant velocity is described in 3-D. This paper discusses en route aircraft which are assumed to be linked by real time data bases like ADS-B and can be considered as a constant velocity motion. The proposed approach uses probabilistic trajectory model supposed to have uncertain information so that possible trajectory deviations can be tackled in a series of Monte Carlo simulations. The simulations are used to estimate the probability of conflict in which own aircraft should operate resolution maneuvers. From the probability of conflict, 'Threat Level' is determined between two aircraft on conflict situation, then, the best one of some possible resolution maneuver candidates is chosen so that the effective resolution maneuver can be commanded. In this paper, several 'collision avoidance/guidance' examples are shown by simulation and the simulation results are discussed.