The answer provided by @Matthias Herlitzius is mostly correct. Just for further clarity.
The servlet-api jar is best left up to the server to manage see here for detail
With that said, the dependency to add may vary according to your server/container. For example in Wildfly the dependency would be
<dependency>
<groupId>org.jboss.spec.javax.servlet</groupId>
<artifactId>jboss-servlet-api_3.1_spec</artifactId>
<scope>provided</scope>
</dependency>
So becareful to check how your container has provided the servlet implementation.