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in this video we introduced a novel sleep estimator using the invariant common powder and disturbance Observer to provide real-time accurate velocity and sleep velocity estimation the proposed state estimator for mobile robots is truly properceptive and combines data from an inertial measurement unit and wheel encoder option 3 system from that camera is used to give ground truth posts in outdoor experiments in propagation step we firstly embed the Sleep velocity into sc33 lead group then we design a constant coefficient linear homogeneous sleep Dynamic model inspired by the following observation suppose the robot is sleeping on icy ground after gaining an initial momentum without any external forces other than friction Robo will slip forward with a decreasing velocity in the Warframe and eventually stop this slide presents a full picture of the framework we use IMU data in propagation step and will increase data in observation after each round of common powder we obtain sleep velocity