Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots   Rapid aerial grasping promises vast applications that utilize the dynamic
picking up and placing of objects by robots. Rigid grippers traditionally used
in aerial manipulators require very high precision and specific object
geometries for successful grasping. We propose RAPTOR, a quadcopter platform
combined with a custom Fin Ray gripper to enable a more flexible grasping of
objects with different geometries, leveraging the properties of soft materials
to increase the contact surface between the gripper and the objects. To reduce
the communication latency, we present a novel FastDDS-based middleware solution
as an alternative to ROS (Robot Operating System). We show that RAPTOR achieves
an average of 83% grasping efficacy in a real-world setting for four different
object geometries while moving at an average velocity of 1 m/s during grasping,
which is approximately five times faster than the state-of-the-art while
supporting up to four times the payload. Our results further solidify the
potential of quadcopters in warehouses and other automated pick-and-place
applications over longer distances where speed and robustness become essential.

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The categories of this paper are: hep-ph
22
The categories of this paper are: chao-dyn
32
The categories of this paper are: atom-ph
28
The categories of this paper are: alg-geom
18
The categories of this paper are: econ
7
The categories of this paper are: hep-th
27
The categories of this paper are: comp-gas
21
The categories of this paper are: adap-org
24
The categories of this paper are: dg-ga
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
15
The categories of this paper are: nucl-ex
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
35
The categories of this paper are: mtrl-th
5
The categories of this paper are: gr-qc