I'm not sure I understand your end goal, but here's a possible solution.
With Servlet 3.0, implement the ServletContainerInitializer interface. Register it as the javadoc says
Implementations of this interface must be declared by a JAR file
resource located inside the META-INF/services directory and named for
the fully qualified class name of this interface
In its onStartup(..) method, you will have access to all the classes on your web application's classpath.
Scan them one by one. If a class is in the package you want and it has the annotation you are looking for, process it and store the URL pattern in a collection.
When the scan is done, you can register Servlet instances/classes with the provided ServletContext and register URL patterns with the given ServletRegistration.Dynamic object.
ServletRegistration.Dynamic registration = servletContext.addServlet("myServlet", new MyServlet());
registration.addMapping(yourCollectionAsAStringArray);
You have many other configuration options as well if you need them.