Graphviz is open source graph visualization software. It has several main graph layout programs. See the gallery for some sample layouts. It also has web and interactive graphical interfaces, and auxiliary tools, libraries, and language bindings.
Graphviz
Here is a good example oh how to create sitemap using nested lists.
http://wordpress.betech.virginia.edu/index.php/2007/10/03/css-sitemap/
You can see another demonstration here: http://wordpress.betech.virginia.edu/example/css-sitemap/chocolate.html
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