Title: Nonlinear Unknown Input and State Estimation Algorithm in Mobile Robots,
Abstract: This technical report provides the description and the derivation of a novel
nonlinear unknown input and state estimation algorithm (NUISE) for mobile
robots. The algorithm is designed for real-world robots with nonlinear dynamic
models and subject to stochastic noises on sensing and actuation. Leveraging
sensor readings and planned control commands, the algorithm detects and
quantifies anomalies on both sensors and actuators. Later, we elaborate the
dynamic models of two distinctive mobile robots for the purpose of
demonstrating the application of NUISE. This report serves as a supplementary
document for [1].