Catch the flying lurkers was a mission in The Precursor Legacy that Jak and Daxter completed to earn a power cell. Robbers had stolen a power cell from the Blue Sage after Keira Hagai researched some of his notes. Jak hunted them down and retrieved the cell.
The PlayStation 3 and Vita versions of this mission are related to a trophy named "Catch as Catch Can", completing this mission will reward you with a silver trophy.
There are a total of four robbers in the Precursor Basin. The first two can be found in the first section. Just keep chasing them around until you can hit them. Try to learn their patterns so you can anticipate their turns and catch up with them since they fly at about the same basic speed as your zoomer. However, beware that if you anticipate their turn enough to beat them at a sharp corner or even face them head on, they will reverse their route to avoid you.
The second pair of robbers can be found in the second section of the basin. You get to the second area by going through any one of the two tunnels that are at both ends of the first section. Just chase these two until you hit them—the last one drops a power cell.