diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
index 74280ac9f4..03b4145759 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
@@ -146,7 +146,7 @@ class NodeDiscoverer : TimerBase
     {
         HighestUptimeSearcher searcher;
 
-        const NodeID* const out = node_map_.findFirstKey<HighestUptimeSearcher&>(searcher);
+        const NodeID* const out = node_map_.find<HighestUptimeSearcher&>(searcher);
         (void)out;
         UAVCAN_ASSERT(out == NULL);
 
diff --git a/libuavcan/include/uavcan/protocol/node_info_retriever.hpp b/libuavcan/include/uavcan/protocol/node_info_retriever.hpp
index c2656b645c..29391a15a6 100644
--- a/libuavcan/include/uavcan/protocol/node_info_retriever.hpp
+++ b/libuavcan/include/uavcan/protocol/node_info_retriever.hpp
@@ -253,7 +253,7 @@ private:
             }
         }
 
-        listeners_.removeWhere(
+        listeners_.removeAllWhere(
             GenericHandlerCaller<const NodeStatusChangeEvent&>(&INodeInfoListener::handleNodeStatusChange, event));
     }
 
@@ -271,8 +271,8 @@ private:
         entry.uptime_sec = msg.uptime_sec;
         entry.updated_since_last_attempt = true;
 
-        listeners_.removeWhere(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
-                               &INodeInfoListener::handleNodeStatusMessage, msg));
+        listeners_.removeAllWhere(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
+            &INodeInfoListener::handleNodeStatusMessage, msg));
     }
 
     void handleGetNodeInfoResponse(const ServiceCallResult<protocol::GetNodeInfo>& result)
@@ -287,8 +287,8 @@ private:
              */
             entry.uptime_sec = result.getResponse().status.uptime_sec;
             entry.request_needed = false;
-            listeners_.removeWhere(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
-                                                                  result.getResponse()));
+            listeners_.removeAllWhere(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
+                                                                     result.getResponse()));
         }
         else
         {
@@ -298,8 +298,8 @@ private:
                 if (entry.num_attempts_made >= num_attempts_)
                 {
                     entry.request_needed = false;
-                    listeners_.removeWhere(GenericHandlerCaller<NodeID>(&INodeInfoListener::handleNodeInfoUnavailable,
-                                                                        result.getCallID().server_node_id));
+                    listeners_.removeAllWhere(GenericHandlerCaller<NodeID>(
+                        &INodeInfoListener::handleNodeInfoUnavailable, result.getCallID().server_node_id));
                 }
             }
         }
diff --git a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
index 114cecee22..2dbc508118 100644
--- a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+++ b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
@@ -165,13 +165,13 @@ TransferID* OutgoingTransferRegistry<NumStaticEntries>::accessOrCreate(const Out
 template <int NumStaticEntries>
 bool OutgoingTransferRegistry<NumStaticEntries>::exists(DataTypeID dtid, TransferType tt) const
 {
-    return NULL != map_.findFirstKey(ExistenceCheckingPredicate(dtid, tt));
+    return NULL != map_.find(ExistenceCheckingPredicate(dtid, tt));
 }
 
 template <int NumStaticEntries>
 void OutgoingTransferRegistry<NumStaticEntries>::cleanup(MonotonicTime ts)
 {
-    map_.removeWhere(DeadlineExpiredPredicate(ts));
+    map_.removeAllWhere(DeadlineExpiredPredicate(ts));
 }
 
 }
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 62be67d64b..428ec1489b 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -179,7 +179,7 @@ public:
     virtual ~TransferListener()
     {
         // Map must be cleared before bufmgr is destroyed
-        receivers_.removeAll();
+        receivers_.clear();
     }
 };
 
diff --git a/libuavcan/include/uavcan/util/map.hpp b/libuavcan/include/uavcan/util/map.hpp
index ed5535266d..1f805fa0a2 100644
--- a/libuavcan/include/uavcan/util/map.hpp
+++ b/libuavcan/include/uavcan/util/map.hpp
@@ -108,7 +108,7 @@ private:
     const unsigned num_static_entries_;
 #endif
 
-    KVPair* find(const Key& key);
+    KVPair* findKey(const Key& key);
 
 #if !UAVCAN_TINY
     void optimizeStorage();
@@ -117,7 +117,7 @@ private:
 
     struct YesPredicate
     {
-        bool operator()(const Key& k, const Value& v) const { (void)k; (void)v; return true; }
+        bool operator()(const Key&, const Value&) const { return true; }
     };
 
 protected:
@@ -137,7 +137,7 @@ protected:
     }
 #endif
 
-    /// Derived class destructor must call removeAll();
+    /// Derived class destructor must call clear();
     ~MapBase()
     {
         UAVCAN_ASSERT(getSize() == 0);
@@ -165,7 +165,7 @@ public:
      *  bool (Key& key, Value& value)
      */
     template <typename Predicate>
-    void removeWhere(Predicate predicate);
+    void removeAllWhere(Predicate predicate);
 
     /**
      * Returns first entry where the predicate returns true.
@@ -173,9 +173,12 @@ public:
      *  bool (const Key& key, const Value& value)
      */
     template <typename Predicate>
-    const Key* findFirstKey(Predicate predicate) const;
+    const Key* find(Predicate predicate) const;
 
-    void removeAll();
+    /**
+     * Removes all items.
+     */
+    void clear();
 
     /**
      * Returns a key-value pair located at the specified position from the beginning.
@@ -185,7 +188,10 @@ public:
     KVPair* getByIndex(unsigned index);
     const KVPair* getByIndex(unsigned index) const;
 
-    bool isEmpty() const;
+    /**
+     * Complexity is O(1).
+     */
+    bool isEmpty() const { return find(YesPredicate()) == NULL; }
 
     unsigned getSize() const;
 
@@ -211,7 +217,7 @@ public:
         : MapBase<Key, Value>(static_, NumStaticEntries, allocator)
     { }
 
-    ~Map() { this->removeAll(); }
+    ~Map() { this->clear(); }
 
 #endif // !UAVCAN_TINY
 };
@@ -229,7 +235,7 @@ public:
 #endif
     { }
 
-    ~Map() { this->removeAll(); }
+    ~Map() { this->clear(); }
 };
 
 // ----------------------------------------------------------------------------
@@ -238,7 +244,7 @@ public:
  * MapBase<>
  */
 template <typename Key, typename Value>
-typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::find(const Key& key)
+typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::findKey(const Key& key)
 {
 #if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
@@ -348,7 +354,7 @@ template <typename Key, typename Value>
 Value* MapBase<Key, Value>::access(const Key& key)
 {
     UAVCAN_ASSERT(!(key == Key()));
-    KVPair* const kv = find(key);
+    KVPair* const kv = findKey(key);
     return kv ? &kv->value : NULL;
 }
 
@@ -358,7 +364,7 @@ Value* MapBase<Key, Value>::insert(const Key& key, const Value& value)
     UAVCAN_ASSERT(!(key == Key()));
     remove(key);
 
-    KVPair* const kv = find(Key());
+    KVPair* const kv = findKey(Key());
     if (kv)
     {
         *kv = KVPair(key, value);
@@ -379,7 +385,7 @@ template <typename Key, typename Value>
 void MapBase<Key, Value>::remove(const Key& key)
 {
     UAVCAN_ASSERT(!(key == Key()));
-    KVPair* const kv = find(key);
+    KVPair* const kv = findKey(key);
     if (kv)
     {
         *kv = KVPair();
@@ -392,7 +398,7 @@ void MapBase<Key, Value>::remove(const Key& key)
 
 template <typename Key, typename Value>
 template <typename Predicate>
-void MapBase<Key, Value>::removeWhere(Predicate predicate)
+void MapBase<Key, Value>::removeAllWhere(Predicate predicate)
 {
     unsigned num_removed = 0;
 
@@ -439,7 +445,7 @@ void MapBase<Key, Value>::removeWhere(Predicate predicate)
 
 template <typename Key, typename Value>
 template <typename Predicate>
-const Key* MapBase<Key, Value>::findFirstKey(Predicate predicate) const
+const Key* MapBase<Key, Value>::find(Predicate predicate) const
 {
 #if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
@@ -474,9 +480,9 @@ const Key* MapBase<Key, Value>::findFirstKey(Predicate predicate) const
 }
 
 template <typename Key, typename Value>
-void MapBase<Key, Value>::removeAll()
+void MapBase<Key, Value>::clear()
 {
-    removeWhere(YesPredicate());
+    removeAllWhere(YesPredicate());
 }
 
 template <typename Key, typename Value>
@@ -525,12 +531,6 @@ const typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::getByIndex(unsi
     return const_cast<MapBase<Key, Value>*>(this)->getByIndex(index);
 }
 
-template <typename Key, typename Value>
-bool MapBase<Key, Value>::isEmpty() const
-{
-    return getSize() == 0;
-}
-
 template <typename Key, typename Value>
 unsigned MapBase<Key, Value>::getSize() const
 {
diff --git a/libuavcan/src/transport/uc_transfer_listener.cpp b/libuavcan/src/transport/uc_transfer_listener.cpp
index a48878f0c1..38cdb726eb 100644
--- a/libuavcan/src/transport/uc_transfer_listener.cpp
+++ b/libuavcan/src/transport/uc_transfer_listener.cpp
@@ -189,7 +189,7 @@ void TransferListenerBase::handleAnonymousTransferReception(const RxFrame& frame
 
 void TransferListenerBase::cleanup(MonotonicTime ts)
 {
-    receivers_.removeWhere(TimedOutReceiverPredicate(ts, bufmgr_));
+    receivers_.removeAllWhere(TimedOutReceiverPredicate(ts, bufmgr_));
     UAVCAN_ASSERT(receivers_.isEmpty() ? bufmgr_.isEmpty() : 1);
 }
 
diff --git a/libuavcan/test/util/map.cpp b/libuavcan/test/util/map.cpp
index 3f8671ede9..e394415b00 100644
--- a/libuavcan/test/util/map.cpp
+++ b/libuavcan/test/util/map.cpp
@@ -105,18 +105,18 @@ TEST(Map, Basic)
     ASSERT_EQ("D", *map->access("4"));
 
     // Finding some keys
-    ASSERT_EQ("1", *map->findFirstKey(KeyFindPredicate("1")));
-    ASSERT_EQ("2", *map->findFirstKey(KeyFindPredicate("2")));
-    ASSERT_EQ("3", *map->findFirstKey(KeyFindPredicate("3")));
-    ASSERT_EQ("4", *map->findFirstKey(KeyFindPredicate("4")));
-    ASSERT_FALSE(map->findFirstKey(KeyFindPredicate("nonexistent_key")));
+    ASSERT_EQ("1", *map->find(KeyFindPredicate("1")));
+    ASSERT_EQ("2", *map->find(KeyFindPredicate("2")));
+    ASSERT_EQ("3", *map->find(KeyFindPredicate("3")));
+    ASSERT_EQ("4", *map->find(KeyFindPredicate("4")));
+    ASSERT_FALSE(map->find(KeyFindPredicate("nonexistent_key")));
 
     // Finding some values
-    ASSERT_EQ("1", *map->findFirstKey(ValueFindPredicate("A")));
-    ASSERT_EQ("2", *map->findFirstKey(ValueFindPredicate("B")));
-    ASSERT_EQ("3", *map->findFirstKey(ValueFindPredicate("C")));
-    ASSERT_EQ("4", *map->findFirstKey(ValueFindPredicate("D")));
-    ASSERT_FALSE(map->findFirstKey(KeyFindPredicate("nonexistent_value")));
+    ASSERT_EQ("1", *map->find(ValueFindPredicate("A")));
+    ASSERT_EQ("2", *map->find(ValueFindPredicate("B")));
+    ASSERT_EQ("3", *map->find(ValueFindPredicate("C")));
+    ASSERT_EQ("4", *map->find(ValueFindPredicate("D")));
+    ASSERT_FALSE(map->find(KeyFindPredicate("nonexistent_value")));
 
     // Removing one static
     map->remove("1");                             // One of dynamics now migrates to the static storage
@@ -176,7 +176,7 @@ TEST(Map, Basic)
     // Removing odd values - nearly half of them
     ASSERT_EQ(2, map->getNumStaticPairs());
     const unsigned num_dynamics_old = map->getNumDynamicPairs();
-    map->removeWhere(oddValuePredicate);
+    map->removeAllWhere(oddValuePredicate);
     ASSERT_EQ(2, map->getNumStaticPairs());
     const unsigned num_dynamics_new = map->getNumDynamicPairs();
     std::cout << "Num of dynamic pairs reduced from " << num_dynamics_old << " to " << num_dynamics_new << std::endl;