A great place to begin is with this book:
http://www.amazon.com/Brazilian-Rhythms-Drumset-Duduka-Fonsceca/dp/0769209874
I feel this is the easiest to follow book for the samba on the kit. The rhythms and exercises offer a great introduction to both samba and bossa nova for the samba newcomer.
Listening to authentic "Brazilian" samba music
recorded in Brazil by Brazilian nationals, who actually live there is of the utmost importance. Checking out batucada recordings is also of great value. It is important to note that a drumset player is mimicing a section that consists of many drummers playing many types of drums from the repinique (pronounced hepineekay) that signals the changes, to the large surdos that hold it together and much in between. Here is a typical list of instruments found in a batucada section.
Surdos, playing various bass parts.
Tamborim playing high end rhythms. Often there is more than 1 tamborim section each with its own parts to play.
Repiniques with the leader, whistle in mouth signaling the changes.
Chochalo, a type of loud shaker.
Chekeres.
Agogo bells.
Pandeiro played by a gentleman whose job it is to lead the troupe and excite the crowd, often juggling and throwing the pandeiro high into the air.
Caixa, a type of Brazilian snare drum, often using guitar strings on top and bottom to play the rolls. These rolls have to be swung in the typical Brazilian fashion known as "Suenge". Not so easy to learn at first.
Cuica to play melodic rhythms and high energy "calls".
Ganza, another kind of shaker.
If playing samba reggae, one would also make use of the timbau. A conical hand drum hanging from a strap around one's neck.
As you can see a drummer has a lot on his plate playing samba. And I want to stress that samba is not Afro Cuban. I have met some drummers who think it is the same thing. They are separate entities.
You can learn quite a bit simply by visiting sites such as
www.pandeiro.com. Or even checking out things on youtube.
http://au.youtube.com/results?search_query=samba+batucada&search_type=
Good luck.