Executive brief
RACER is a swarm robotics exploration framework used to coordinate UAV task optimization. A flaw in the pair-optimization cooldown mechanism allows repeated failed optimization attempts to bypass the intended rate limit and execute at maximum timer frequency, causing excessive CPU consumption, excessive logging, and potential mission degradation on affected UAVs.
Technical details
The vulnerability is a logic flaw in FastExplorationFSM::optTimerCallback() where the cooldown timestamp recent_attempt_time_ is updated only after cost validation succeeds. When a pair-opt reallocation is rejected due to higher cost, the function returns early before updating the timestamp, allowing the same failed operation to bypass the cooldown check on the next timer invocation. An attacker with the ability to trigger or influence pair-opt conditions can cause repeated failed optimization attempts to execute at timer frequency, resulting in denial of service through CPU exhaustion and log flooding. The vulnerability requires local or adjacent network access to the affected UAV's control systems. A fix involves recording the attempt timestamp immediately upon entering optTimerCallback(), before the cost validation, ensuring all attempts—successful, failed, and rejected—are subject to the rate limit.
Affected products
- Robotics-STAR-Lab (SYSU STAR Group) RACER commit abcdef1234567890
Timeline
- 2026-09-08: disclosed
- 2026-09-11: advisory