# Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 17× · AI/ML

**Wikidata**: [openalex:W4389665583](https://www.wikidata.org/wiki/openalex:W4389665583)  
**Source**: https://4ort.xyz/entity/fully-proprioceptive-slip-velocity-aware-state-estimation-for-mobile-robots-via-invariant-kalman-filtering-and-disturban