I have verified this bug on master.  On debug builds I see the following assertion after undo.

ASSERT INFO:
/home/wayne/src/kicad-trunk/common/dlist.cpp(175): assert "aElement && aElement->GetList() == this" failed in remove().

BACKTRACE:
[1] finish libcontext.cpp

Here is the back trace:

Thread 1 "kicad" received signal SIGSEGV, Segmentation fault.
0x0000000000000401 in ?? ()
(gdb) bt
#0  0x0000000000000401 in  ()
#1  0x00007fffd35b7d4d in PICKED_ITEMS_LIST::ClearListAndDeleteItems()
    (this=0xa1bd590)
    at /home/wayne/src/kicad-trunk/common/undo_redo_container.cpp:121
#2  0x00007fffd33598e7 in SCH_SCREEN::ClearUndoORRedoList(UNDO_REDO_CONTAINER&, int) (this=0x50cd800, aList=..., aItemCount=-1)
    at /home/wayne/src/kicad-trunk/eeschema/sch_screen.cpp:603
#3  0x00007fffd349dc28 in BASE_SCREEN::ClearUndoRedoList() (this=0x50cd800)
    at /home/wayne/src/kicad-trunk/common/base_screen.cpp:282
#4  0x00007fffd3356daa in SCH_SCREEN::~SCH_SCREEN() (this=0x50cd800)
    at /home/wayne/src/kicad-trunk/eeschema/sch_screen.cpp:133
#5  0x00007fffd3356f39 in SCH_SCREEN::~SCH_SCREEN() (this=0x50cd800)
    at /home/wayne/src/kicad-trunk/eeschema/sch_screen.cpp:132
#6  0x00007fffd336469f in SCH_SHEET::~SCH_SHEET() (this=0x50c5400)
    at /home/wayne/src/kicad-trunk/eeschema/sch_sheet.cpp:93
#7  0x00007fffd3364769 in SCH_SHEET::~SCH_SHEET() (this=0x50c5400)
    at /home/wayne/src/kicad-trunk/eeschema/sch_sheet.cpp:85
#8  0x00007fffd33826e9 in SCH_EDIT_FRAME::~SCH_EDIT_FRAME() (this=0x2eabd80)
    at /home/wayne/src/kicad-trunk/eeschema/sch_edit_frame.cpp:316
#9  0x00007fffd3382879 in SCH_EDIT_FRAME::~SCH_EDIT_FRAME() (this=0x2eabd80)
    at /home/wayne/src/kicad-trunk/eeschema/sch_edit_frame.cpp:308
#10 0x00007ffff730ae63 in wxAppConsoleBase::DeletePendingObjects() ()
    at /usr/lib/x86_64-linux-gnu/libwx_baseu-3.0.so.0
#11 0x00007ffff730aee5 in wxAppConsoleBase::ProcessIdle() ()
    at /usr/lib/x86_64-linux-gnu/libwx_baseu-3.0.so.0
#12 0x00007ffff78e57f4 in wxAppBase::ProcessIdle() ()
    at /usr/lib/x86_64-linux-gnu/libwx_gtk3u_core-3.0.so.0
#13 0x00007ffff7816385 in wxApp::DoIdle() ()
    at /usr/lib/x86_64-linux-gnu/libwx_gtk3u_core-3.0.so.0
#14 0x00007ffff7816473 in  ()
    at /usr/lib/x86_64-linux-gnu/libwx_gtk3u_core-3.0.so.0
#15 0x00007ffff58a5d7e in g_main_context_dispatch ()
    at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#16 0x00007ffff58a6130 in  () at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#17 0x00007ffff58a6403 in g_main_loop_run ()
    at /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#18 0x00007ffff5ec96e5 in gtk_main ()
    at /usr/lib/x86_64-linux-gnu/libgtk-3.so.0
#19 0x00007ffff7833265 in wxGUIEventLoop::DoRun() ()
--Type <RET> for more, q to quit, c to continue without paging--c
    at /usr/lib/x86_64-linux-gnu/libwx_gtk3u_core-3.0.so.0
#20 0x00007ffff734799d in wxEventLoopBase::Run() () at /usr/lib/x86_64-linux-gnu/libwx_baseu-3.0.so.0
#21 0x00007ffff73109b6 in wxAppConsoleBase::MainLoop() () at /usr/lib/x86_64-linux-gnu/libwx_baseu-3.0.so.0
#22 0x000000000049ad78 in APP_KICAD::OnRun() (this=0x7e31a0) at /home/wayne/src/kicad-trunk/kicad/kicad.cpp:261
#23 0x00007ffff7398a39 in wxEntry(int&, wchar_t**) () at /usr/lib/x86_64-linux-gnu/libwx_baseu-3.0.so.0
#24 0x0000000000499593 in main(int, char**) (argc=1, argv=0x7fffffffe218) at /home/wayne/src/kicad-trunk/kicad/kicad.cpp:292


Here is the version information:

Application: Eeschema
Version: (5.99.0-326-g583339268-dirty), debug build
Libraries:
    wxWidgets 3.0.4
    libcurl/7.66.0 OpenSSL/1.1.1d zlib/1.2.11 brotli/1.0.7 libidn2/2.2.0 libpsl/0.20.2 (+libidn2/2.0.5) libssh2/1.8.0 nghttp2/1.39.2 librtmp/2.3
Platform: Linux 5.2.0-2-amd64 x86_64, 64 bit, Little endian, wxGTK
Build Info:
    Build date: Nov  9 2019 09:58:00
    wxWidgets: 3.0.4 (wchar_t,wx containers,compatible with 2.8) GTK+ 3.24
    Boost: 1.67.0
    OpenCASCADE Community Edition: 6.9.1
    Curl: 7.66.0
    Compiler: Clang 8.0.1 with C++ ABI 1002

Build settings:
    KICAD_SCRIPTING=ON
    KICAD_SCRIPTING_MODULES=ON
    KICAD_SCRIPTING_PYTHON3=ON
    KICAD_SCRIPTING_WXPYTHON=ON
    KICAD_SCRIPTING_WXPYTHON_PHOENIX=ON
    KICAD_SCRIPTING_ACTION_MENU=ON
    BUILD_GITHUB_PLUGIN=ON
    KICAD_USE_OCE=ON
    KICAD_USE_OCC=OFF
    KICAD_SPICE=ON
    KICAD_STDLIB_DEBUG=OFF
    KICAD_STDLIB_LIGHT_DEBUG=OFF
    KICAD_SANITIZE=OFF