Methods, systems, and apparatus, including computer programs encoded on computer storage media, for drone delivery. One of the methods includes: receiving, at the UAV, information about a location of a drop beacon comprising GPS coordinates of a location of a drop beacon; navigating the UAV towards the location based on the information using GPS coordinates of the drop beacon; when reaching a proximity of the drop beacon, transmitting a first radio signal from the UAV with information relatable by the drop beacon; receiving, at the UAV, a second radio signal from the drop beacon; identifying, at the UAV, a line-of-sight signal from the drop beacon; navigating the UAV to the drop beacon based on the line-of-sight signal; and delivering, from the UAV, the goods to the location of the drop beacon.