CVE-2026-71640

CRITICALPre-NVD 9.19.1—
EchelonGraph scoreHIGH confidence

Score 9.1 from GitHub Security Advisory (severity: CRITICAL) published 2026-09-11. CISA-ADP (Vulnrichment) CVSS v3.1 baseline 9.1; sources differ by 0.0.

Triggered by: GitHub Security Advisory CVSS
Sources: cisa-adp, epss, ghsa
Trending — 4 sources updated this weekElevated
9.1EG
EchelonGraph verdictPlan a fixSerious severity, but no confirmed exploitation yet.
  • High severity, but no confirmed exploitation yet
CISA-KEV: Not listedEPSS PROB: 0%CVSS: 9.1Exploit: Elevated riskExposed: 0

No vendor fix yet — apply a workaround or compensating control (WAF / firewall / segmentation) and watch for a patch.

An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows unsafe vehicle motion via improper handling of expired trajectory data in the replanning pipeline

CVSS v3
9.1
EG Score
9.1(high)
EG Risk
72(Attend)
EG Risk 72/100SSVC: Attend

EG Risk is EchelonGraph's 0–100 priority score: it fuses intrinsic severity with real-world exploitation and automatability so you can rank equal-severity CVEs and fix the most dangerous first. Higher = act sooner. Distinct from the 0–10 EG Score (severity).

How it’s computed
Severity91% × 45%
Exploitation40% × 40%
Automatability100% × 15%
Action: Remediate soon — notable exploitation risk.
EPSS PROB
0%
EPSS %ILE
38%
KEV
Not listed

Published

September 10, 2026

Last Modified

September 14, 2026

Advisory Details (3)

Auto-updated Sep 15, 2026
⚠️ Active exploitation confirmed. No patch confirmed yet.
generic

Planner Uses Extrapolated State from Expired Local Trajectory · Issue #61 · ZJU-FAST-Lab/EGO-Planner-v2 · GitHub

https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/61
generic🔴 Active Exploitation

GitHub - ZJU-FAST-Lab/EGO-Planner-v2: Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild" · GitHub

https://github.com/ZJU-FAST-Lab/EGO-Planner-v2
generic

Reference for CVE-2026-71640 · GitHub

https://gist.github.com/DongJiaxin0422/cbb657769220e3bc247a4ab9ed37bb4f

Vendor Advisories for CVE-2026-71640(1)

These vendors published their own advisory mentioning this CVE — often with vendor-specific remediation steps + affected product lists not in NVD.

Weakness Classification(1)

MITRE Common Weakness Enumeration — the root-cause categories this CVE belongs to.

Data Freshness Timeline

(refreshed 45× in last 7d / 49× in last 30d)

Each row is a source pipeline that fetched or updated this CVE on that date, with what changed. For example, "NVD update" means NVD published or revised its analysis for this CVE; "MITRE cvelistV5" means we ingested or refreshed it from the CNA feed. Most recent first.

  1. 2026-09-19 09:45 UTCGHSA enrichment
  2. 2026-09-19 05:37 UTCGHSA enrichment
  3. 2026-09-19 01:29 UTCGHSA enrichment
  4. 2026-09-18 21:19 UTCEG score recompute
  5. 2026-09-18 21:19 UTCGHSA enrichment
  6. 2026-09-18 19:28 UTCEPSS rescore
  7. 2026-09-18 16:53 UTCGHSA enrichment
  8. 2026-09-18 12:45 UTCGHSA enrichment
  9. 2026-09-18 08:37 UTCGHSA enrichment
  10. 2026-09-18 04:29 UTCGHSA enrichment
  11. 2026-09-18 00:21 UTCGHSA enrichment
  12. 2026-09-17 20:13 UTCEG score recompute
  13. 2026-09-17 20:13 UTCGHSA enrichment
  14. 2026-09-17 15:49 UTCGHSA enrichment
  15. 2026-09-17 11:41 UTCGHSA enrichment
  16. 2026-09-17 07:32 UTCGHSA enrichment
  17. 2026-09-17 03:23 UTCGHSA enrichment
  18. 2026-09-16 23:15 UTCGHSA enrichment
  19. 2026-09-16 19:06 UTCGHSA enrichment
  20. 2026-09-16 14:58 UTCEG score recompute
  21. 2026-09-16 14:58 UTCGHSA enrichment
  22. 2026-09-16 14:08 UTCEPSS rescore
  23. 2026-09-16 10:49 UTCGHSA enrichment
  24. 2026-09-16 06:42 UTCEG score recompute
  25. 2026-09-16 06:42 UTCGHSA enrichment
Show 24 more
  1. 2026-09-16 05:15 UTCEPSS rescore
  2. 2026-09-16 02:33 UTCGHSA enrichment
  3. 2026-09-15 22:24 UTCGHSA enrichment
  4. 2026-09-15 18:16 UTCGHSA enrichment
  5. 2026-09-15 14:08 UTCGHSA enrichment
  6. 2026-09-15 10:00 UTCGHSA enrichment
  7. 2026-09-15 05:52 UTCEG score recompute
  8. 2026-09-15 05:52 UTCGHSA enrichment
  9. 2026-09-15 03:12 UTCEPSS rescore
  10. 2026-09-15 01:44 UTCGHSA enrichment
  11. 2026-09-14 21:36 UTCEG score recompute
  12. 2026-09-14 21:36 UTCGHSA enrichment
  13. 2026-09-14 17:28 UTCEG score recompute
  14. 2026-09-14 17:28 UTCGHSA enrichment
  15. 2026-09-14 16:20 UTCEG score recompute▲ 9.10
  16. 2026-09-14 16:20 UTCGHSA enrichment
  17. 2026-09-14 16:19 UTCMITRE cvelistV5CVSS v3 → 9.1 · severity → CRITICAL
  18. 2026-09-14 00:26 UTCEG score recompute
  19. 2026-09-14 00:26 UTCGHSA enrichment
  20. 2026-09-12 15:02 UTCEPSS rescore
  21. 2026-09-11 14:53 UTCEPSS rescore
  22. 2026-09-10 22:18 UTCNVD update
  23. 2026-09-10 21:51 UTCEG score recompute
  24. 2026-09-10 21:49 UTCMITRE cvelistV5first tracked

Frequently asked(5)

What is CVE-2026-71640?
CVE-2026-71640 is a critical vulnerability published on September 10, 2026. An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows unsafe vehicle motion via improper handling of expired trajectory data in the replanning pipeline
When was CVE-2026-71640 disclosed?
CVE-2026-71640 was first published in the National Vulnerability Database on September 10, 2026, with the most recent update on September 14, 2026. EchelonGraph re-ingests CVE updates from NVD on a 2-hour cycle, so this page reflects the latest published state.
Is CVE-2026-71640 actively exploited?
CVE-2026-71640 is not currently on CISA's Known Exploited Vulnerabilities catalog. FIRST EPSS estimates a 0% probability of exploitation in the next 30 days, which ranks it in the top 61.7% of all scored CVEs.
What is the CVSS score of CVE-2026-71640?
CVE-2026-71640 has a CVSS v3.1 base score of 9.1 (CISA-ADP / Vulnrichment enrichment; NVD's own analysis pending).
How do I remediate CVE-2026-71640?
Patch to the fixed version published by the affected vendor. Where vendor advisories exist for CVE-2026-71640, EchelonGraph cross-links them in the Vendor Advisories panel below — those typically contain the canonical remediation steps, fixed version numbers, and any vendor-specific mitigations.

Dependency Blast Radius

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