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The Book Introduction to Autonomous Robots by Prof N. Correll is also available for download under a CC license.

Its an introduction into mobile and autonomous robotics. Topics include
- Path planning,
- sensor fusion (kalman)
- basic computer vision
- localization and odometry
- and Simultaneous Localization and Mapping (SLAM) with RGB-D sensors (aka Primesense sensors, most popular known as Kinect)

Nice basic introduction.

Also some basics about kinematics
http://en.wikipedia.org/wiki/Kinematics