Systems and methods are provided for seamless roaming in a network. First, a client device is authenticated at a first access point of the network. Next, a processor selectively determines, among remaining access points in the network, second access points at which respective precursor keys, such as Pairwise Master Keys R1 (PMK-R1s) are to be computed. The second access points are determined based on any of respective path losses from the first access point to the second access points and respective historical frequencies at which the client device associates at the respective remaining access points. For the second access points, the respective PMK-R1s are computed and transmitted to the second access points to be cached. Next, following a request from the client device to reassociate to a second access point of the second access points, the client device is authenticated at the second access point based on a corresponding PMK-R1.