# Resources To see the math at work in a toy version of the library, check out [this notebook](https://github.com/acmerobotics/road-runner/blob/master/doc/notebook/road-runner-lite.ipynb). Click [this link](https://mybinder.org/v2/gh/acmerobotics/road-runner/HEAD?filepath=doc%2Fnotebook%2Froad-runner-lite.ipynb) to open it interactively in your browser. Road Runner makes use of algorithms and techniques described in the following papers: * [Mobile Robot Kinematics for FTC](https://github.com/acmerobotics/road-runner/blob/master/doc/pdf/Mobile_Robot_Kinematics_for_FTC.pdf) * [Quintic Splines for FTC](https://github.com/acmerobotics/road-runner/blob/master/doc/pdf/Quintic_Splines_for_FTC.pdf) * [FRC Drivetrain Characterization](https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915) * [Planning Motion Trajectories for Mobile Robots Using Splines](http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf), especially section 3.2 * [Control of Wheeled Mobile Robots: An Experimental Overview](https://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf), especially chapter 5 * [A guiding vector field algorithm for path following control of nonholonomic mobile robots](https://arxiv.org/pdf/1610.04391.pdf) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://acme-robotics.gitbook.io/road-runner/advanced/resources.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.