A system comprising: a payload comprising tapered upper walls (510a-b) and an upwardly extending handle ; and a payload retrieval system comprising: a UAV having a payload receptacle positioned within the UAV; a payload coupling apparatus positioned within the payload receptacle; a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and a payload guiding member positioned on an underside of the UAV and including inwardly tapered walls (535a-b) on an interior of the payload guiding member that are configured so as to conform to the tapered upper walls of the payload, wherein the inwardly tapered walls are configured to guide, during retrieval of the payload, the handle and the tapered upper walls of the payload into the payload receptacle until the inwardly tapered walls of the payload guiding member extend over the tapered upper walls of the payload and the upwardly extending handle of the payload is in a desired position within the payload receptacle, thereby to enable the handle of the payload positioned within the payload receptacle to be secured to the payload coupling apparatus. a payload comprising tapered upper walls (510a-b) and an upwardly extending handle ; and a payload retrieval system comprising: a UAV having a payload receptacle positioned within the UAV; a payload coupling apparatus positioned within the payload receptacle; a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and a payload guiding member positioned on an underside of the UAV and including inwardly tapered walls (535a-b) on an interior of the payload guiding member that are configured so as to conform to the tapered upper walls of the payload, wherein the inwardly tapered walls are configured to guide, during retrieval of the payload, the handle and the tapered upper walls of the payload into the payload receptacle until the inwardly tapered walls of the payload guiding member extend over the tapered upper walls of the payload and the upwardly extending handle of the payload is in a desired position within the payload receptacle, thereby to enable the handle of the payload positioned within the payload receptacle to be secured to the payload coupling apparatus. a UAV having a payload receptacle positioned within the UAV; a payload coupling apparatus positioned within the payload receptacle; a tether having a first end secured within the UAV and a second end attached to the payload coupling apparatus; and a payload guiding member positioned on an underside of the UAV and including inwardly tapered walls (535a-b) on an interior of the payload guiding member that are configured so as to conform to the tapered upper walls of the payload, wherein the inwardly tapered walls are configured to guide, during retrieval of the payload, the handle and the tapered upper walls of the payload into the payload receptacle until the inwardly tapered walls of the payload guiding member extend over the tapered upper walls of the payload and the upwardly extending handle of the payload is in a desired position within the payload receptacle, thereby to enable the handle of the payload positioned within the payload receptacle to be secured to the payload coupling apparatus. <EOS>