It consists of a main tunnel that may branch into several chambers. Once she has the cicada in the burrow, she lays an egg on it and closes the chamber. Her larva hatches and consumes the paralyzed cicada as it develops. One tunnel may contain several chambers that may be as much as 15 inches under the soil. Usually it's not necessary to control cicada killers.
Avoidance is the best solution.
But if they're too much of a nuisance, you'll have to find the nests in daylight. Finding them will be a challenge if they're constructed in grassy areas. Look for fresh soil deposited while the wasp excavated the burrow. Treat in evening or before dawn when the female wasps are occupying the burrow and when temperatures are cool. Wasps and bees are less stimulated by red light.