public enum ChangeFreq
        {
            Always,
            Hourly,
            Daily,
            Weekly,
            Monthly,
            Yearly,
            Never
        }

        [XmlElement("loc")]
        public string Url { get; set; }

        [XmlElement("lastmod")]
        public DateTime? LastModified { get; set; }
        public bool ShouldSerializeLastModified()
        {
            return LastModified.HasValue;
        }

        [XmlElement("changefreq")]
        public ChangeFreq? ChangeFrequency { get; set; }
        public bool ShouldSerializeChangeFrequency()
        {
            return ChangeFrequency.HasValue;
        }
        [XmlElement("priority")]
        public float? Priority { get; set; }
        public bool ShouldSerializePriority()
        {
            return Priority.HasValue;
        }
    }

[XmlRoot("urlset",Namespace = "http://www.sitemaps.org/schemas/sitemap/0.9")]
    public class SiteMp
    {
        private readonly List<Location> _locations;

        public SiteMp()
        {
            _locations = new List<Location>();
        }

        [XmlElement("url")]
        public List<Location> Locations
        {
            get { return _locations; }
            set
            {
                foreach (var location in value)
                {
                    Add(location);
                }
            } 
            
        }

        public void Add(Location location)
        {
            _locations.Add(location);
        }
    }

public class XmlResult : ActionResult
    {
        private readonly object _objectToSerialize;

        public XmlResult(object objectToSerialize)
        {
            _objectToSerialize = objectToSerialize;
        }
        public override void ExecuteResult(ControllerContext context)
        {
            if (_objectToSerialize == null)
               return;
             context.HttpContext.Response.Clear();
             var xmlSerializer = new XmlSerializer(_objectToSerialize.GetType());
             context.HttpContext.Response.ContentType = "text/xml";
             xmlSerializer.Serialize(context.HttpContext.Response.Output, _objectToSerialize);            
        }
    }

public class SiteMapController : Controller
    {
        // GET: SiteMap
        public ActionResult Index()
        {
            SiteMp siteMap = new SiteMp();
            siteMap.Add(new Location
            {
                Url = Request.Url.GetLeftPart(UriPartial.Authority) + "/Home/Index"
            });
            siteMap.Add(new Location
            {
                Url = Request.Url.GetLeftPart(UriPartial.Authority) + "/Home/NewRequest",
                ChangeFrequency = Location.ChangeFreq.Always,
                LastModified = DateTime.UtcNow,
                Priority = 0.5f
            });
            siteMap.Add(new Location
            {
                Url = Request.Url.GetLeftPart(UriPartial.Authority) + "/Home/FindRequest",
                ChangeFrequency = Location.ChangeFreq.Always,
                LastModified = DateTime.UtcNow,
                Priority = 0.5f
            });
            siteMap.Add(new Location
            {
                Url = Request.Url.GetLeftPart(UriPartial.Authority) + "/ContactUs/Index",
                ChangeFrequency = Location.ChangeFreq.Daily,
                LastModified = DateTime.UtcNow,
                Priority = 0.5f
            });
            return new XmlResult(siteMap);
        }

public class ControllerScanner
    {
       public static List<string> ScanAllControllers(HttpRequestBase requestBase)
        {
            Assembly asm = Assembly.GetAssembly(typeof(MvcApplication));

            var controllerActionlist = asm.GetTypes()
                .Where(type => typeof (Controller).IsAssignableFrom(type))
                .SelectMany(type => type.GetMethods(BindingFlags.Instance | BindingFlags.DeclaredOnly | BindingFlags.Public))
                .Where((returnType => returnType.ReturnType == (typeof(ViewResult)) || returnType.ReturnType==(typeof(ActionResult))))
                .Select(
                    x =>
                        new
                        {
                            Controller = x.DeclaringType.Name,
                            Action = x.Name,
                            ReturnType = x.ReturnType.Name

                        })
                .OrderBy(x => x.Controller).ThenBy(x => x.Action).Distinct().ToList();

            if (requestBase.Url == null)
                return null;

            var url = requestBase.Url.GetLeftPart(UriPartial.Authority);
            return controllerActionlist.Select(controller => $"{url}/{controller.Controller}/{controller.Action}").ToList();
        }
    }

public class SiteMapController : Controller
    {
        // GET: SiteMap
        public ActionResult Index()
        {
            var siteMap = new SiteMap();
            var controllers = ControllerScanner.ScanAllControllers(Request);
            foreach (var controller in controllers)
            {
                siteMap.Add(new Location
                {
                    Url = controller,
                    ChangeFrequency = Location.ChangeFreq.Always,
                    LastModified = DateTime.UtcNow,
                    Priority = 0.5f
                });
            }
            return new XmlResult(siteMap);
        }        
    }

 routes.MapRoute(
                "SiteMap", // Route name
                "sitemap.xml", // URL with parameters
                new { controller = "Sitemap", action = "Index", name = UrlParameter.Optional, area = "" }
            );