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Hello,
these two tutorials do not exist, because I had no time to write them yet. :( However, the tutorial4.launch should be in the package and should also run if you were able to run the first 3. So maybe the launch file can already answer some of your questions.
roslaunch nav2d_tutorials tutorial4.launch
If you are interested in writing your own exploration strategy, you should checkout the sources from Github and have a look at the NearestFrontierPlanner within nav2d_exploration. This is a very simple strategy to demonstrate how to write a plugin for the Navigator. Also the tutorials from http://wiki.ros.org/pluginlib can help you with this.
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