Sitemap XML generation

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What is the best way to create a sitemap.xml with robots.txt for SEO, and place it at the root directory of a large V8 site?

I read the SEO-Best-Practices.pdf from the Vignette KC.  It recommended creating a presentation template but did not go into details.  Anyone created a sitemap already and found this method efficient?  Or, is there a better way?

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