> For the complete documentation index, see [llms.txt](https://acme-robotics.gitbook.io/road-runner/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://acme-robotics.gitbook.io/road-runner/advanced/resources.md).

# 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)