Is CVE-2026-71641 exploited in the wild?

No. Junglewise Threat Intelligence has no report of CVE-2026-71641 being exploited in the wild.

How severe is CVE-2026-71641?

High severity, with a CVSS score of 7.5, published 11 September 2026.

Which products and versions are affected?

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

Is there a fix for CVE-2026-71641?

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-2026-71641 attacked?

It is attacked with local access.

Am I affected by CVE-2026-71641?

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-2026-71641: ZJU-FAST-Lab EGO-Planner-v2 denial of service in emergency recovery logic

CVE-2026-71641 · Severity: high · CVSS 7.5 · Published 2026-09-11

EGO-Planner-v2 is a path-planning system used to coordinate autonomous micro-flying robots (drones) in swarm operations. A flaw in the emergency recovery mechanism can cause a drone to become permanently stuck in emergency-stop mode after completing a trajectory, rendering it unable to resume normal flight operations and potentially disabling multiple coordinated vehicles in a multi-drone mission.

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

Quick answers

Is CVE-2026-71641 exploited in the wild?: No. Junglewise Threat Intelligence has no report of CVE-2026-71641 being exploited in the wild.
How severe is CVE-2026-71641?: High severity, with a CVSS score of 7.5, published 11 September 2026.
Which products and versions are affected?: ZJU-FAST-Lab EGO-Planner-v2 all versions up to commit 5c99a95880401e2599638d567abc0e240396cb42.
Is there a fix for CVE-2026-71641?: 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-2026-71641 attacked?: It is attacked with local access.
Am I affected by CVE-2026-71641?: 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 denial-of-service deadlock in the interaction between three components: traj_server (trajectory publishing), poscmd_2_odom (odometry conversion), and EGOReplanFSM (finite state machine for emergency recovery). When a trajectory ends, traj_server stops publishing position commands but fails to send a final zero-velocity command. poscmd_2_odom then indefinitely reuses the last PositionCommand (which contains non-zero velocity), causing stale velocity data to persist in the odometry. The FSM's recovery from EMERGENCY_STOP requires velocity norm < 0.1, but this condition is never met because the stale velocity remains latched. This creates a permanent deadlock preventing the planner from resuming trajectory generation. The root cause is inconsistent state handling across trajectory completion, command caching, and recovery logic; no patch information is provided in the advisory.

Affected products

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

Timeline

2026-09-11: disclosed

References

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