The textbook that I am using is "Introduction to Autonomous Mobile Robots" by Roland Siegwart and Illah Nourbakhsh. More details can be found on the course information page.
While this is an excellent book, and you are sure to find it interesting and useful, note that it is not a required text.
While the course will be practical, you don't have to use real robots (you are welcome to come use the robots in our lab in Brooklyn, but it isn't required).
Instead we will be using the Player/Stage/Gazebo simulator.