If you google are wasps benificial, you will find that indeed they are. They also pollinate like bees, and additionally they prey on alot of crop distroying pests. Some farmers ship them in to assist with certain pest they are having trouble with.
I never kill a wasp in my garden or yard because i value all benifical insects.
I have never had a any trouble with them until 2 years ago mowing my yard and bumped a tall pole with the mower and immedately was stung by 3 angry wasps. They had a nest near the top if the pole under a bird feeder.
I just did not mow that side of the yard for the rest of that summer. Took the nest down after they moved on.