# CVE-2026-71642: ZJU-FAST-Lab EGO-Planner-v2 denial of service in collision check

Source: https://junglewise.ai/threats/cve-2026-71642-zju-fast-lab-ego-planner-v2-denial-of-service-in-collision-check  
Publisher: Junglewise Threat Intelligence, https://junglewise.ai/threats  
Published: 2026-09-10. Updated: 2026-09-26  
License: CC BY 4.0 with a link back

CVE-2026-71642 · Severity: medium · CVSS 4 · Published 2026-09-10

EGO-Planner-v2 is a multi-agent UAV planning and control system used to coordinate autonomous flying robots. A logic error in collision-detection code allows stale trajectory data to cause safety checks to be silently skipped, preventing the system from detecting obstacles and other UAVs and failing to trigger avoidance actions. This can result in collisions, mission failure, or loss of the aircraft.

Technologies: [ZJU-FAST-Lab EGO-Planner-v2](https://junglewise.ai/threats/technologies/ego-planner-v2). Vendors: [ZJU-FAST-Lab](https://junglewise.ai/threats/vendors/zju-fast-lab).

## Quick answers

**Is CVE-2026-71642 exploited in the wild?** No. Junglewise Threat Intelligence has no report of CVE-2026-71642 being exploited in the wild.

**How severe is CVE-2026-71642?** Medium severity, with a CVSS score of 4, published 10 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-2026-71642?** 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-2026-71642 attacked?** It is attacked with local access, in a software library.

**Am I affected by CVE-2026-71642?** 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 condition in EGOReplanFSM::checkCollisionCallback() caused by improper handling of stale trajectory and safety-checking data. When local trajectory and collision-check points (local_traj and pts_chk) are not updated in time, the computed current execution time (t_cur) can exceed the valid range of the stale data. The callback fails to detect this condition and either returns early or skips the look-ahead safety checking loop entirely, bypassing obstacle detection, swarm-distance checks, replanning, and emergency-stop logic. No user interaction or authentication is required; the condition is triggered by timing during normal system operation. An attacker with the ability to control or delay trajectory updates could exploit this to cause a UAV to collide with obstacles or other aircraft.

## Affected products

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

## Timeline

- 2026-09-10: disclosed

## References

- [https://gist.github.com/DongJiaxin0422/e59acfd05dc2e07c7a9e2583a5be3954](https://gist.github.com/DongJiaxin0422/e59acfd05dc2e07c7a9e2583a5be3954)
- [https://github.com/ZJU-FAST-Lab/EGO-Planner-v2](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2)

## Related threats

- [ZJU-FAST-Lab EGO-Planner-v2 denial of service in emergency recovery logic](https://junglewise.ai/threats/cve-2026-71641-zju-fast-lab-ego-planner-v2-denial-of-service-in-emergency)
- [EGO-Planner-v2 denial of service in recovery state machine](https://junglewise.ai/threats/cve-2026-71647-ego-planner-v2-denial-of-service-in-recovery-state-machine)
- [ZJU-FAST-Lab EGO-Planner-v2 denial of service in recovery logic](https://junglewise.ai/threats/cve-2026-71643-zju-fast-lab-ego-planner-v2-denial-of-service-in-recovery-logic)
- [ZJU-FAST-Lab EGO-Planner-v2 unsafe vehicle motion via expired trajectory handling](https://junglewise.ai/threats/cve-2026-71640-zju-fast-lab-ego-planner-v2-unsafe-vehicle-motion-via-expired)