Since this is already a well established theme, we aren't likely to add a new widget area or sitemap option in the footer, but you do have a range of options available if you'd like to set one up.
The simplest option is to create a child theme, and then add the code for your sitemap in a copy of the file footer.php in your child theme. This would require editing your child theme every time the sitemap needs updating.
Using a child theme means your tweaks won't be overwritten when updating the theme. Here are some guides in case you haven't made one before:
http://codex.wordpress.org/Child_Themes
http://op111.net/53/
http://vimeo.com/39023468
A more complicated route would be to create a new widget area in the footer. You could then add your site map to the footer through a text widget, and edit it in the dashboard if there are changes.
Here are some resources on adding new widgetized areas to a theme:
http://codex.wordpress.org/Widgetizing_Themes
http://www.dummies.com/how-to/content/how-to-register-new-widget-areas-to-your-wordpress.html
A third option would be to look for a plugin solution. You might find a sitemap plugin that allow you to put a template tag in footer.php in your child theme to automatically display a sitemap there.
It's up to you to choose the option that best fits your needs and skills. Good luck!