The Stokes problem with Navier boundary conditions in irregular domains

We consider the steady Stokes equations supplemented with Navier boundary conditions including a non-negative friction coefficient. We prove maximal regularity estimates (including the prominent spaces $W^{1,p}$ and $W^{2,p}$ for $1<p<\infty$ for the velocity field) in bounded domains of minimal regularity. Interestingly, exactly one derivative more is required for the local boundary charts compared to the case of no-slip boundary conditions. We demonstrate the sharpness of our results by a propos examples.