Appium server cannot connect to Android R (11) device because of the 'platformVersion'

I am trying to connect appium with android devices that are running android R.

Appium version: 1.16.0
Android version: 11.0 (R, API: R)

I first tried to set the ‘platformVersion’ capability to 11.0, but then after I tried to start the session, an error was thrown that no device with platform version 11.0 is connected.

However, after I executed the following command:
adb -s emulator-5556 shell getprop

I understood that the platformVersion is ‘R’.

But when I try to use R as a value for ‘platformVersion’ key, this error is thrown by the server:
An unknown server-side error occurred while processing the command. Original error: The provided platform version value 'null' cannot be coerced to a valid version number

How can I overcome this issue and be able to connect appium with android devices running Android 11 R ?