nav2d exploration plugin

Hi all, I see [nav2d](http://wiki.ros.org/nav2d) comes with the ability to plugin exploration planners via pluginlib for cooperative exploration. The source includes some example plugins. I've gone through the nav2d tutorials as well as the [pluginlib tutorials](http://wiki.ros.org/pluginlib/Tutorials/Writing%20and%20Using%20a%20Simple%20Plugin) but seem to be missing or overlooking a piece of basic information - how can I load and use one of the exploration planner plugins (of the three provided with the source) with the RobotNavigator? Thanks!