Denial of Service in EGO-Planner-v2

Executive Summary

CVE-2026-71641 is a Denial of Service (DoS) vulnerability in ZJU-FAST-Lab's EGO-Planner-v2 software affecting commits up to 5c99a95880401e2599638d567abc0e240396cb42. It occurs due to a stale non-zero velocity state during emergency recovery caused by interaction between traj_server, poscmd_2_odom, and EGOReplanFSM. traj_server stops publishing commands after trajectory completion without sending a zero-velocity command. poscmd_2_odom retains the last command, including non-zero velocity, causing odometry to report incorrect motion. The FSM cannot transition from EMERGENCY_STOP because the velocity condition (odom_vel_.norm() < 0.1) is never met.

The root cause is inconsistent handling of trajectory completion and stale command data across components. This creates a permanent emergency-recovery deadlock where the planner cannot resume trajectory generation.

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Detection Guidance

Check if the EGO-Planner-v2 system is stuck in EMERGENCY_STOP state by monitoring the FSM state and odometry velocity. Verify if traj_server stops publishing PositionCommand messages after trajectory completion without sending a zero-velocity command. Inspect poscmd_2_odom for stale non-zero velocity data in odometry output.

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Impact Analysis

This vulnerability can cause a single UAV to become permanently unavailable for the rest of its mission. In swarm operations, multiple UAVs may fail to participate in coordinated tasks, resulting in mission failure or denial of service. The odometry may also become internally inconsistent, showing a stationary position with a non-zero velocity.

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Compliance Impact

This vulnerability causes a permanent denial of service by locking the system in an emergency state, which could disrupt critical operations. For GDPR, this may impact data processing integrity if the system handles personal data. For HIPAA, it could compromise the availability of systems managing protected health information. The lack of recovery may violate requirements for timely access to data or system functionality.

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Mitigation Strategies

Apply patches to ensure traj_server publishes a final zero-velocity command at trajectory completion. Modify poscmd_2_odom to invalidate stale commands after a timeout. Update EGOReplanFSM to include a fallback mechanism for prolonged EMERGENCY_STOP states.

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