Planner hang via latched nonzero velocity
Published Sep 11, 2026 · Updated Sep 15, 2026
Denial of service in ZJU-FAST-Lab EGO-Planner-v2 through commit 5c99a95880401e2599638d567abc0e240396cb42 allows attackers to hang planning. When traj_server finishes a trajectory, it stops publishing without a final zero-velocity command, and poscmd_2_odom indefinitely reuses the last nonzero velocity. If EGOReplanFSM enters EMERGENCY_STOP after that command is latched, its velocity threshold never passes, leaving the planner unable to generate a new trajectory.
Summary
What happened
Denial of service in ZJU-FAST-Lab EGO-Planner-v2 through commit 5c99a95880401e2599638d567abc0e240396cb42 allows attackers to hang planning. When traj_server finishes a trajectory, it stops publishing without a final zero-velocity command, and poscmd_2_odom indefinitely reuses the last nonzero velocity. If EGOReplanFSM enters EMERGENCY_STOP after that command is latched, its velocity threshold never passes, leaving the planner unable to generate a new trajectory.
The record
- CVE
- CVE-2026-71641
- Published
- Sep 11, 2026
- Updated
- Sep 15, 2026
- Vendor
- Unknown vendor
- Product
- Unknown product
- Classifications
- T1499.004
- Attack vector
- Unavailable
- Privileges
- Unavailable
Timeline
How it unfolded
- Sep 11, 2026CVE publishedPublication date reported by the CVE source.
- Sep 15, 2026Record updatedLatest update available in the CVE record.
Exploitability
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