Yes, you must use HTTPS and Google Digital Asset Links.
From the second paragraph of your link
Handling Android App Links
Automatic handling of links requires the cooperation of app developers
and website owners. A developer must configure their app to declare
associations with one or more websites, and to request that the system
verify those associations. A website owner must, in turn, provide that
verification by publishing a Digital Asset Links file. A Digital Asset
Links file is a collection of statements conforming to the Asset Links
protocol that make public, verifiable assertions about other apps or
websites.
And later on that same page:
Important: The system verifies the JSON
file via the encrypted HTTPS
protocol. Make sure that your hosted file is accessible over an HTTPS
connection, regardless of whether your app's intent filter includes
https
.