---
title: "CVE-2026-71641: ZJU-FAST-Lab EGO-Planner-v2 - Denial of Service"
description: "ZJU-FAST-Lab EGO-Planner-v2 <= 5c99a95880401e2599638d567abc0e240396cb42 contains a denial of service caused by interaction issues between traj_server, poscmd_2_odom, and EGOReplanFSM emergency recovery logic, letting attackers cause service disruption remotely, exploit requires no special privileges."
url: https://panop.io/threat-heartbeat/CVE-2026-71641/
---

# CVE-2026-71641 ZJU-FAST-Lab EGO-Planner-v2 - Denial of Service

ZJU-FAST-Lab EGO-Planner-v2 <= 5c99a95880401e2599638d567abc0e240396cb42 contains a denial of service caused by interaction issues between traj\_server, poscmd\_2\_odom, and EGOReplanFSM emergency recovery logic, letting attackers cause service disruption remotely, exploit requires no special privileges.

CVSS base score 7.5 /10

High

CISA KEV

Not listed

Public exploit

None known

Authentication

Not required

EPSS

0.61% chance of exploitation in 30 days

[View the NVD record ↗](https://nvd.nist.gov/vuln/detail/CVE-2026-71641)

## Details

Type

Denial of Service

Impact

Denial Of Service

CVSS vector

CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:N/A:H

Published

11 September 2026

Updated

15 October 2026

Weakness

[CWE-400](https://cwe.mitre.org/data/definitions/400.html)

## Vendor fix

Update to the latest version beyond commit 5c99a95880401e2599638d567abc0e240396cb42.

Patching closes this CVE. It does not tell you which of your systems run the affected version, or what else is exposed alongside them.

## References

- [https://nvd.nist.gov/vuln/detail/CVE-2026-71641](https://nvd.nist.gov/vuln/detail/CVE-2026-71641)
- [https://github.com/ZJU-FAST-Lab/EGO-Planner-v2](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2)
- [https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/63](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/63)
- [https://gist.github.com/DongJiaxin0422/91656fd120c49a779992aba62c1d58af](https://gist.github.com/DongJiaxin0422/91656fd120c49a779992aba62c1d58af)

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## What this record can't tell you

- Whether you run the affected software, and where
- Whether an attacker can actually reach and exploit it
- The misconfigurations that never get a CVE number
- What it would cost the business, ranked into what to fix first

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