With the increasing demand to integrate unmanned aircraft systems (UAS) into the National Airspace System (NAS), new procedures and technologies are necessary to ensure safe airspace operations and minimize the impact of UAS on current airspace users. Currently, small UAS face limitations on their utilization in civil airspace because they do not have the ability to detect and avoid other aircraft. In this article, we will present a framework that consists of an Automatic Dependent Surveillance-Broadcast (ADS-B)-based sensor, track estimator, conflict/collision detection, and resolution that mitigates collision risk. ADS-B o↵ers long range, omni-directional intruder detection with comparatively few size, weight, power, and cost demands. The proposed conflict/collision detection and planning algorithms for conflict/collision resolution are designed in the local level frame, which is unrolled, unpitched body frame where the ownship is stationary at the center of the map. The path planning method is designed to be multi-resolutional at increasing distance from the ownship to account for both self-separation and collision avoidance thresholds. We demonstrate and validate this approach using simulated ADS-B measurements.