---
id: CVE-2026-71641
title: >-
  An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit
  5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial
  of service via thenteraction between traj_server, poscmd_2_odom, and the
  EGOReplanFSM emergen…
summary: >-
  An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit
  5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial
  of service via thenteraction between traj_server, poscmd_2_odom, and the
  EGOReplanFSM emergen…
severity: high
cvss: 7.5
cvssVector: 'CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:N/A:H'
cwe:
  - CWE-400
published: '2026-09-11'
updated: '2026-09-22'
sourceUpdated: '2026-09-22T20:00:03.713'
source: NVD
sourceUrl: 'https://nvd.nist.gov/vuln/detail/CVE-2026-71641'
references:
  - url: 'https://gist.github.com/DongJiaxin0422/91656fd120c49a779992aba62c1d58af'
    label: cve@mitre.org
  - url: 'https://github.com/ZJU-FAST-Lab/EGO-Planner-v2'
    label: cve@mitre.org
  - url: 'https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/63'
    label: cve@mitre.org
tags:
  - nvd
  - cve.org
epss: 0.00609
epssPercentile: 0.4685
ssvc:
  exploitation: none
  automatable: 'yes'
  technicalImpact: partial
  timestamp: '2026-09-15T15:11:32.058567Z'
ingestedAt: '2026-09-11T16:45:47.861Z'
---

## Overview

An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial of service via thenteraction between traj_server, poscmd_2_odom, and the EGOReplanFSM emergency recovery logic

## Remediation

Refer to the linked advisories for vendor-supplied fixes and affected version ranges.