I forget the name of the ship, but there's a Merc constructor that enables you to build a Starbase that will automatically and instantly flip planets within its support range to you. I got this during a game I just completed, and it was in the middle of a war with the Drengin ... and, yup, I strategically placed it and five of their planets (more than half their empire) became mine without needing a single troop transport. I must admit, that was pretty awesome!
However, I'm looking at the end game summary now and it shows 0 planets annexed. Were those not supposed to count?