EASA has a roadmap for autonomous flight with 3 levels of autonomy:

They, in collaboration with my friends at Daedalean, just released their approach how to certify the safety of the whole L1 system, a first for a ML system in aviation, as far as I know. This ought to help the nascent UAV market with overcoming regulatory barriers. You can get a sense for the state of the art with the EHang 216 drone in this autonomous test flight with the CEO on board.