Anything in tomcat's lib directory should be a maven dependency with scope provided
:
provided
This is much like compile, but indicates you expect the
JDK or a container to provide the
dependency at runtime. For example,
when building a web application for
the Java Enterprise Edition, you would
set the dependency on the Servlet API
and related Java EE APIs to scope
provided because the web container
provides those classes. This scope is
only available on the compilation and
test classpath, and is not transitive.
Source: Maven Dependency Scope
Example:
<dependency>
<groupId>javax.servlet</groupId>
<artifactId>servlet-api</artifactId>
<version>2.5</version>
<scope>provided</scope>
</dependency>
If the libraries are your own, you will have to install or deploy them to a local or remote repository.