Table 4.

Additional States for the Odometry Model.

State	Description	Symbol
19	Dyn. tire radius error (front left)	$\Delta r_{dyn,FL}$
20	Dyn. tire radius error (front right)	$\Delta r_{dyn,FR}$
21	Dyn. tire radius error (rear left)	$\Delta r_{dyn,RL}$
22	Dyn. tire radius error (rear right)	$\Delta r_{dyn,RR}$