TOC summary in the header of each slide

There is the list of possible R-Markdown templates for beamer_presentation in R-Markdown.

And most of them include a kind of a "Navigation bar" at the top (or left/right) of each slide, like that:

While I do understand how to create a TOC in R-Markdown (by providing a toc: true in the header, I cannot figure out how to add this navigation to each slide.

I also understand how to create a floating TOC for the R-Markdown for HTML format (via toc_float: true as it is described here) but still cannot figure out how to make it in a beamer format. Any hint will be appreciated.