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As the name implies, a sitemap is a literal map of the website, that is, on one page you would show the structure of the site, the sections in it, the links between those, etc. Sitemaps make navigating the website easier, and when you have an updated sitemap for your website it is good not only for yourself but search engines as well. Sitemaps are a very important way for a website to communicate with a search engine. Robots (.txt) tells a search engine which part of the website to not include for indexing, and the web sitemap tells these search engines where you'd like them to go.
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