Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. - Xihang Yu; Sangli Teng; Theodor Chakhachiro; Wenzhe Tong; Tingjun Li; Tzu-Yuan Lin; Sarah Koehler; Manuel Ahumada; Jeffrey M. Walls; Maani Ghaffari (IROS, 2023)