Here is a sample sitemap that does not rely on the domain name:
<sitemap>
<sitemapnode title="Home" url="/Hub" roles="*">
<sitemapnode title="Service Admin" roles="Admin,root">
<sitemapnode title="Flights" url="/Pages/WinService/Flight/List.aspx" roles="Admin,root"></sitemapnode>
<sitemapnode title="Flight Instances" url="/Pages/WinService/FlightInstance/List.aspx" roles="Admin,root"></sitemapnode>
</sitemapnode>
<sitemapnode title="Claims" roles="User,Member,Admin,root">
<sitemapnode title="List" roles="User,Member,Admin,root" url="/Pages/Claims/Claims/List.aspx"></sitemapnode>
</sitemapnode>
</sitemapnode>
</sitemap>
If you exclude the domain then the current domain will be suffixed with the path