Among the textbooks, this one is closest to the material that we will cover (although we will cover other things, and there will be lecture notes).

Web site at Springer

We will also use the tool that goes with the book

PiVC tool

The instructions work. If you have a Linux like mine, you can also try this: unpack this unofficial PiVC arhive, run pivc/configure. If you have e.g. Java Hotspot 1.5.0.7, you should now be able to run the system with pivc/bin/piVC and try out some examples in pivc/examples directory.