System and method for dynamically arming a failsafe on a delivery drone

A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to execute a process, the process comprising:

• generating a navigation plan for a UAV, the navigation plan including a start point, an end point, a waypoint located between the start point and the end point, and a three dimensional geofence connecting the start point and the end point, the three dimensional geofence having a first width at the start point;
• and a second width at the waypoint;
• configuring the UAV to execute the navigation plan by navigating from the start point to the end point;
• and
• configuring the UAV to terminate navigation in response to detecting that the UAV is outside of the three dimensional geofence.

A system for safely terminating navigation of an unmanned aerial vehicle (UAV), comprising:

• a processing circuitry;
• and
• a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to:
• generate a navigation plan for a UAV, the navigation plan including a start point, an end point, a waypoint located between the start point and the end point, and a three dimensional geofence connecting the start point and the end point, the three dimensional geofence having a first width at the start point;
• and a second width at the waypoint;
• configure the UAV to execute the navigation plan by navigating from the start point to the end point;
• and
• configure the UAV to terminate navigation in response to detecting that the UAV is outside of the three dimensional geofence.