Mobile Robot Course
Introduction to Mobile Robotics (engl.) – Autonomous Mobile Systems. You will need Octave (the MATLAB clone).
Do read also Simultaneous Localisation and Mapping (SLAM): part 1 and part 2.
Handy reading if you are working with monster trucks as the basic robotic vehicle (Ackermann Drive). Calculating circular paths to meet with a waypoints.
A more down to earth piece talks about waypoints, dead-reckoning et al.
Here is an interesting piece that talks about subsumption. Same chap talks about odometry.