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This paper addresses the perception, control and trajectory planning for an aerial platform to identify and land on a moving car at 15 km/h. The hexacopter Unmanned Aerial Vehicle (UAV), equipped with onboard sensors and a computer, detects the car using a monocular camera and predicts the car future movement using a nonlinear motion model. While following the car, the UAV lands on its roof, and it attaches itself using magnetic legs. The proposed system is fully autonomous from takeoff to * http://mrs.felk.cvut.cz † http://www.grasp.upenn.edu This is the author manuscript accepted for publication and has undergone full peer review but has not been through the copyediting, typesetting, pagination and proofreading process, which may lead to differences between this version and the Version of Record.