An approach is provided for dynamic beacons address allocation. The approach involves reporting, by each child node of a beacon tree structure, to a parent node, a load collection packet including a load count of each child node. Each child node is either a leaf node or a parent node. The parent node is either a root node or a child node reporting to another node. The parent node is located on a shortest path from a leaf node to the root node. The load count is a total number of the other nodes reporting to the parent node plus one. The approach also involves receiving, by each child node from the parent node, an address distribution packet that includes a contiguous logical address range and a weighted distance to the root node (WDR). The WDR and/or the tree structure are provided as an input for a drone navigation task.