Could you share SwitchYard version you use? I tested 0.7-SNAPSHOT from latest trunk together with various quickstarts and there is no dead mbeans. Everything is cleaned up correctly after redeployment or undeployment of deploy units. Do you have some specific application you could share to let us reproduce the problem?
As we don't control camel context names or route elements you will observe that every deploy increase internal camel counter. So first deployment will get name camel-1, another will use camel-3 or camel-4 as we have one context created in mid time to initialize SwitchYard-Camel type conversion. The naming of camel contexts is definitelly something we can improve.