Pretty late to the party but my issue was happening because there is a defect in ui-router in angular 1.5.8. A thing to mention is that this error appeared only the first time I was running the application and it would not reoccur afterward.
This post from github solved my issue.
Basically the error involves $urlRouterProvider.otherwise("/home")
The solution was a workaround like this:
$urlRouterProvider.otherwise(function($injector, $location) {
var $state = $injector.get("$state");
$state.go("your-state-for-home");
});