I've removed the main method from CleanSweep.  The vacuum should be tested by running the main method in the simulator.  I had to manually change in my IDE what main method to execute.  I also added a logging utility that prints out the internalMap to a file after the clean sweep is finished.  Also, cleanFloor now returns the internalMap when finished.  No real changes to pom file.  Just cleaned it up a bit.