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When I plug in an USB network, it gets assigned a network name, like wlan1 by udev. Is there a way how to determine the mapping, without going through udev files, like /etc/udev/rules.d/70-persistent-net.rules?

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Use lshw (install as needed). The command lshw -C Network answers your question.

For example the usb network device connected at usb bus 2:1.5 (check lsusb -t for more info on your usb tree) has logical name wlan0:

root@kali:~# lshw -C Network
  *-network
       description: Wireless interface
       physical id: 1
       bus info: usb@2:1.5
       logical name: wlan0
       serial: 00:60:64:37:4a:30
       capabilities: ethernet physical wireless
       configuration: broadcast=yes driver=rt2800usb driverversion=3.14-kali1-amd64 firmware=0.29 ip=10.0.0.4 link=yes multicast=yes wireless=IEEE 802.11bgn

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