Is CVE-2026-71640 exploited in the wild?

No. Junglewise Threat Intelligence has no report of CVE-2026-71640 being exploited in the wild.

How severe is CVE-2026-71640?

Critical severity, with a CVSS score of 9.1, published 10 September 2026.

Which products and versions are affected?

ZJU-FAST-Lab EGO-Planner-v2 up to commit 5c99a95880401e2599638d567abc0e240396cb42.

Is there a fix for CVE-2026-71640?

No fixed version is recorded yet. Check the vendor's advisory in the references below. If you run it, Junglewise drafts a mitigation that fits your setup and applies it once you approve, with senior security engineers behind it.

How is CVE-2026-71640 attacked?

It is attacked over the network, in a software library.

Am I affected by CVE-2026-71640?

Check whether you run ZJU-FAST-Lab EGO-Planner-v2 at an affected version. Junglewise does that check for you around the clock: connect your code, cloud and domains, and it matches new vulnerabilities like this one against what you actually run and tells you when one reaches you.

CVE-2026-71640: ZJU-FAST-Lab EGO-Planner-v2 unsafe vehicle motion via expired trajectory handling

CVE-2026-71640 · Severity: critical · CVSS 9.1 · Published 2026-09-10

EGO-Planner-v2 is a motion planning and control system for autonomous unmanned aerial vehicles. A flaw in the trajectory replanning pipeline can cause the planner to use expired or stale trajectory data when calculating vehicle state, potentially leading to unsafe vehicle motion, failed recovery, or unstable behavior after local trajectories expire.

Technologies: ZJU-FAST-Lab EGO-Planner-v2. Vendors: ZJU-FAST-Lab.

Quick answers

Is CVE-2026-71640 exploited in the wild?: No. Junglewise Threat Intelligence has no report of CVE-2026-71640 being exploited in the wild.
How severe is CVE-2026-71640?: Critical severity, with a CVSS score of 9.1, published 10 September 2026.
Which products and versions are affected?: ZJU-FAST-Lab EGO-Planner-v2 up to commit 5c99a95880401e2599638d567abc0e240396cb42.
Is there a fix for CVE-2026-71640?: No fixed version is recorded yet. Check the vendor's advisory in the references below. If you run it, Junglewise drafts a mitigation that fits your setup and applies it once you approve, with senior security engineers behind it.
How is CVE-2026-71640 attacked?: It is attacked over the network, in a software library.
Am I affected by CVE-2026-71640?: Check whether you run ZJU-FAST-Lab EGO-Planner-v2 at an affected version. Junglewise does that check for you around the clock: connect your code, cloud and domains, and it matches new vulnerabilities like this one against what you actually run and tells you when one reaches you.

Technical details

The vulnerability is a logic error in EGOReplanFSM::planFromLocalTraj() where the function queries a local trajectory using a time value (t_cur) that may exceed the trajectory's valid duration, without clamping or validation. When the trajectory expires before being refreshed, the trajectory evaluator extrapolates beyond the valid range, producing non-physical position, velocity, and acceleration values. These incorrect values are then used as the initial state for replanning (start_pt_, start_vel_, start_acc_), causing the planner to operate from a state inconsistent with actual vehicle state. This differs from the execution path, which correctly handles expired trajectories by evaluating to the endpoint and zeroing velocity/acceleration. The inconsistency between planner and execution policies allows unsafe trajectory generation and failed recovery behavior.

Affected products

ZJU-FAST-Lab EGO-Planner-v2 up to commit 5c99a95880401e2599638d567abc0e240396cb42

Timeline

2026-09-10: disclosed: CVE-2026-71640 published on NVD

References

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