[1] has a video[2] along with some slides[3].

[1]: https://stevengong.co/notes/F1TENTH/#about-the-f1tenth-car

[2]: https://www.youtube.com/watch?v=OV8lAwcIW0I&list=PL868twsx7O...

[3]: https://linklab-uva.github.io/autonomousracing/assets/files/...