The Advancing Guitarist, by Mick Goodrick
The author, Mick Goodrick, is a renowned veteran jazz guitarist.
The Advancing Guitarist encourages aspiring guitarists to take measure of the fretboard and account for all its possibilities, including scales, modes, triads, intervals, chords and more. The book also suggests some vamps to aid in your improvisation. A few of these vamps are available on YouTube, if you care to search them out. The following is an example of the F Lydian vamp from the book: