Wow. This is great information! You have a very well laid our requirement :).
"Of course it would need to protect itself from running into trees and walls, or any other objects while trying to follow my rules as closely as possible."
And that is the kicker. A lot of the features you've outlined can be done with current technologies simply using GPS (though framing would be wrong unless you have a SHIFT-like product). However, none of it is safe to use. Even if you were in "mostly" open areas, to constantly watch out and make sure the drone doesn't crash is very cumbersome.
Comprehensive sense-and-avoid is the golden egg of the drone community, precisely because of the features you've mentioned!
"Of course it would need to protect itself from running into trees and walls, or any other objects while trying to follow my rules as closely as possible."
And that is the kicker. A lot of the features you've outlined can be done with current technologies simply using GPS (though framing would be wrong unless you have a SHIFT-like product). However, none of it is safe to use. Even if you were in "mostly" open areas, to constantly watch out and make sure the drone doesn't crash is very cumbersome.
Comprehensive sense-and-avoid is the golden egg of the drone community, precisely because of the features you've mentioned!