Whenever I trade with a cartographer, I get an undiscovered map. I go out to discover the map. When I trade with the cartographer again, it gives me the same map even when the mansion/monument was discovered. If you already discovered an explorer map, The cartographer should give you a new undiscovered explorer map. Not only that, but sometimes the icon for the mansion or the monument wouldn't even appear on the explorer map.
Villagers always trade the same item with you. If you want to get a new explorer map, look for another cartographer. See MC-108082.