No-- swearing of any kind in a public map, regardless of whether a staff member is present or if the map is not populated, is not permitted. (It's not wise to swear even if you don't think staff are in the map, because they could very well be hidden discreetly, or a user could submit a report of the content.) Even if the map you're using is not as populated, if it's a default map that comes with the game, it is best not to swear. If you are in a custom/user-made map, however, you're free to use any kind of language as you like. If you've set your heart on using a public map for your video, though, you could always type words that would visually work as a substitute without actually using those words. c:
I hope this was able to clear a few things up for you. ^^
