  While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well
suited for certain types of missions benefiting from stationary flight
capabilities, their more widespread usage still faces many hurdles, due in
particular to their limited range and the difficulty of fully automating their
deployment and retrieval. In this paper we address these issues by solving the
problem of the automated landing of a quadcopter on a ground vehicle moving at
relatively high speed. We present our system architecture, including the
structure of our Kalman filter for the estimation of the relative position and
velocity between the quadcopter and the landing pad, as well as our controller
design for the full rendezvous and landing maneuvers. The system is
experimentally validated by successfully landing in multiple trials a
commercial quadcopter on the roof of a car moving at speeds of up to 50 km/h.
