The wasps probably have a small nest somewhere inside, there are a variety of DIY
pest control methods that you could use to deter them, such as using mint oil or detergent around the area you think the wasps are (the alleged nest area).
As for what type they are, it sounds like red paper wasps and blue mud daubers, but can't be exactly sure if there are no pics.
If they are still apparent, then be sure to consult a specialist to at least find where they are commuting to so their nest does not grow larger.