  Autonomous delivery of goods using a MAV is a difficult problem, as it poses
high demand on the MAV's control, perception and manipulation capabilities.
This problem is especially challenging if the exact shape, location and
configuration of the objects are unknown. In this paper, we report our findings
during the development and evaluation of a fully integrated system that is
energy efficient and enables MAVs to pick up and deliver objects with partly
ferrous surface of varying shapes and weights. This is achieved by using a
novel combination of an electro-permanent magnetic gripper with a passively
compliant structure and integration with detection, control and servo
positioning algorithms. The system's ability to grasp stationary and moving
objects was tested, as well as its ability to cope with different shapes of the
object and external disturbances. We show that such a system can be
successfully deployed in scenarios where an object with partly ferrous parts
needs to be gripped and placed in a predetermined location.
