if you want to give a try at jogo do pau you have Luis Preto's manuals here: http://www.shelfari.com/series/Jogo-do-Pau---Luis-Preto
I sugest the "How to sequence the teaching of technique and tactics" to begin with.
However if you don't have a practicing partner, that might not be very productive.
In jogo do pau, to practice drills alone, what I actually find myself doing more is the multiple opponents rules and sequences(when there is space).
something like this http://www.youtube.com/watch?v=bSQFEeVVhgE
but instead of having partners placing the targets you can simple set points of the floor.
the 1 vs 3 dynamics is specially complex and is allot of work just to get the basics right. Luis book of "Combat in outnumbered scenarios" explains that all.
The advantage is that this works with any kind of 2 handed weapon , it is not staff specific, evenfor batons.
this repetitive forms are also very good http://www.youtube.com/watch?v=vABYnld05h4
they usually repeat the same move but in different directions. The first 2 or 3 are easy to understand just from the video and are great to get you oriented in space. if you can end up correctly after spinning so many times that is already great.