Eric Hemery’s Walking Dartmoors Ancient Tracks is a great book with 28 routes, with good descriptions and history of the tracks. Great if you want to follow the tracks on the ground with the use of a map. Not all are visible on the ground but you can follow the route. I have done the North – South (Okehampton – Harford Moorgate) twice, its 27 miles and takes in the remote moor. Its a good two day walk and a great challenge.