This is a typical request and a typical floor plan. It can be used as an example for similar cases and as a reference for budgeting.
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Autonomous robots and drones and precise indoor positioning and navigation
Calculation of the number of beacons required is equally a technical and economical exercise. It is a simple exercise if you understand the underlying logic.
The range of indoor positioning systems can be from ~30 meters to hundreds of meters and more depending on what exactly is meant and depending on the architecture used. Read more details.
Don't give up if something broke in the system. In many cases, it is completely or partiality fixable with little efforts.
It is possible to fly autonomous indoor drones using IA but it requires deeper understanding of the technology