Ultra-reliable and low latency communications (URLLC) will be the backbone of the upcoming sixth-generation (6G) systems and will facilitate mission-critical scenarios. A design accounting for stringent reliability and latency requirements for URLLC systems poses a challenge for both industry and academia. Recently, unmanned aerial vehicles (UAV) have emerged as a potential candidate to support communications in futuristic wireless systems due to providing favourable channel gains thanks to Lineof-Sight (LoS) communications. However, usage of UAV in cellular infrastructure increases interference in aerial and terrestrial user equipment (UE) limiting the performance gain of UAV-assisted cellular systems. To resolve these issues, we propose low-complexity algorithms for intercell interference coordination (ICIC) using cognitive radio when single and multi-UAVs are deployed in a cellular environment to facilitate URLLC services. Moreover, we model BS-to-UAV (B2U) interference in downlink communication, whereas in uplink we model UAV-to-BS (U2B), UAV-to-UAV (U2U), and UE-to-UAV (UE2U) interference under perfect/imperfect channel state information (CSI). Results demonstrate that the proposed perfect ICIC accounts for fairness among UAV especially in downlink communications compared to conventional ICIC algorithms. Furthermore, in general, the proposed UAV-sensing assisted ICIC and perfect ICIC algorithms yield better performance when compared to conventional ICIC for both uplink and downlink for the single and multi-UAV frameworks. INDEX TERMS URLLC, multi-UAV, cognitive radio, intercell interference coordination (ICIC).