"Robin Hood: The Man Behind the Myth" by Graham Phillips. If you are able to part from the popular idea that Robin Hood was a displaced Earl and that King Richard was somehow involved, you will find this a very probable theory for the people and events that inspired the legend of Robin Hood.
Fulke Fitzwarin was born about 1165 in Hertfordshire, England. The book by Maurice Keen, “The Outlaws of Medieval Legend”, includes a chapter on the story of the Romance of Fulke Fitzwarin, and several chapters on the Robin Hood ballads. Fulke was married to Maude le Vavasour. The true-life story of Maude's relationship with Fulke Fitzwarin is very similar to the legend of Robin Hood and Maid Marian. Maude’s parents were Sir Robert le Vavasour and Julian De Ros.
Featuring both famous - Robin Hood and William Wallace - and now forgotten rogues such as Gamelyn and Fulke Fitzwarin, this book explains the popularity of these semi-mythical figures, and how their stories appealed to the common people of the Middle Ages.
The name Plantagenet is a anglicized version of planta genesta, which is the Norman French term for the plant now called broom. Geoffrey of Anjou, husband of Empress Matilda and father of Henry II, often wore a sprig of this plant in his hat or helmet, which is how the family got this name.