1. A method of monitoring airspace at least partially surrounding an unmanned aerial vehicle (UAV), the method comprising: receiving one or more signals representative of an environment extending from the UAV; analyzing the one or more signals to determine a presence of an object; identifying an object type of the object based at least in part on the one or more signals; determining one or more operating characteristics of the object based at least in part on the one or more signals; and determining a trajectory envelope of the object based at least in part on the object type and the one or more operating characteristics of the object, wherein the trajectory envelope includes at least a probability of possible future locations of the object during a predetermined period of time.