The servlet API .jar file must not be embedded inside the webapp since, obviously, the container already has these classes in its classpath: it implements the interfaces contained in this jar.

The dependency should be in the provided scope, rather than the default compile scope, in your Maven pom:

<dependency>
    <groupId>javax.servlet</groupId>
    <artifactId>javax.servlet-api</artifactId>
    <version>3.1.0</version>
    <scope>provided</scope>
</dependency>