1. A collision avoidance system comprising: at least one processor and a memory communicatively coupled to the at least one processor via a communications link; a plurality of sensors disposed at a plurality of locations on a taxi vehicle taxiing an aircraft, wherein the plurality of sensors comprises a plurality of image sensors and the taxi vehicle is configured to engage an aircraft for ground operations; a data acquisition module communicatively coupled to the plurality of sensors that receives a plurality of images from the plurality of image sensors; a supervisory control module communicatively coupled to the data acquisition module and configured to: receive environmental data from at least one of a gate, a service vehicle, a taxi vehicle, another aircraft, and a control center; determine a plurality of environmental parameters based on the environmental data and a discretized model, wherein the plurality of environmental parameters are used to perform supervisory control and monitoring operations and wherein the discretized model is based on architecture and specifications of a ground management system, components and layout of an airport, specifications on vehicle dynamics, specifications of vehicle controllers, uncertainty in communications, and safety requirements; and a collision avoidance module configured to determine a signal indicative of a collision condition, wherein the collision avoidance module is communicatively coupled to the data acquisition module and that: determines at least one parameter about an obstacle based on the plurality of images, the plurality of environmental parameters and a machine vision algorithm, wherein the obstacle is a stationary or a moving object disposed near the taxi vehicle; and generates an alert signal based on the at least one parameter, wherein the alert signal is indicative of the collision condition, and wherein the alert signal is used for avoiding collision of the aircraft with the obstacle; wherein at least one of the data acquisition module and the collision avoidance module is stored in the memory and executable by the at least one processor.