I had a ground nest that I was unaware of at the edge of my yard/field last year.
During our daily dog walk I was looking at some wild grape vines, turned around, and realized my older female pit bull, Fiona, was sitting down and covered with yellow jackets. I quickly urged her off the nest (she was actually sitting on the hole) and into another part of the yard, where I brushed all the yellow jackets off her (must have been 30 or 40 of them).
I didn't know how many times she had been stung so I drove her to my wife's place of employment, a veterinary hospital. Turns out Fiona was fine and she had only been stung a few times.
When I got back home I put my 20ish gallon sprayer in the back of our side by side, and mixed up about 5 or 6 gallons of Bifenthrin. I backed it to within about 25 feet of the hole, turned it on and started spraying. End of that nest.
I've actually brush hogged several paper nests over the years; not sure what was in them. Probably bald faced hornets. I never got stung, and actually never noticed what I had done til the next lap. I just modified my mowing pattern and it worked out in my favor.