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Minor Containment is a fundamental problem in Algorithmic Graph Theory used as a subroutine in numerous graph algorithms. A model of a graph H in a graph G is a set of disjoint connected subgraphs of G indexed by the vertices of H, such that if { u, v} is an edge of H, then there is an edge of G between components C and C. A graph H is a minor of G if G contains a model of H as a subgraph. We give an algorithm that, given a planar n-vertex graph G and an h-vertex graph H, either finds in time $\mathcal{O}(2^{\mathcal{O}(h)} \cdot n +n^{2}\cdot\log n)$ a model of H in G, or correctly concludes that G does not contain H as a minor. Our algorithm is the first single-exponential algorithm for this problem and improves all previous minor testing algorithms in planar graphs. Our technique is based on a novel approach called partially embedded dynamic programming. [ABSTRACT FROM AUTHOR]