Multi-objective Path Planning for Large-scale UAV Swarms: an Enhanced A* Algorithm Based on Adaptive Diagonal Heuristics and Hierarchical Parallelism - Song, Yazhen; Hu, Le; Zhang, Xinpeng; Yue, Ping; Liu, Zhiyou (Proceedings of the 2nd Guangdong-Hong Kong-Macao Greater Bay Area International Conference on Digital Economy and Artificial Intelligence, 2025)