I respectfully disagree.
The assert!() macro is a way to document invariants. It's a bug if a variant is violated. It shouldn't have happened, but if it happens, then there's nothing the user can do except reporting the crash.
The unwrap() and expect() method document the invariant that the None and Err() variants shouldn't occur.
It's fail fast.
You should use error handling only if users would be able to handle the errors.
Tell the end user that the file they wanted to open is not readable, for example. Tell the users of your library that an error happened, like a parse error of a config file. And so on. Tell the users what they can fix themselves.
A bug in your library or program, that's something different. Fail fast! And Rust panics are perfect for that.