  Demand for fast and inexpensive parcel deliveries in urban environments has
risen considerably in recent years. A framework is envisioned to enforce
efficient last mile delivery in urban environments by leveraging a network of
ride-sharing vehicles, where Unmanned Aerial Systems (UASs) drop packages on
said vehicles which then cover the majority of the distance to finally be
picked up by another UAS for delivery. This approach presents many engineering
challenges, including the safe rendezvous of both agents: the UAS and the
human-operated ground vehicle. In this paper, we introduce a framework to
minimize the risk of failure, while allowing for optimal usage of the
controlled agent. We formulate a compact fast planner to drive a UAS to a
passive ground vehicle with inexact behavior, while providing intuitive and
meaningful procedures to guarantee safety with minimal sacrifice of optimality.
The resulting algorithm is shown to be fast and implementable in real-time via
numerical tests.
