Foundations of RDF Databases

The goal of this paper is to give an overview of the basics of the theory of RDF databases. We provide a formal definition of RDF that includes the features that distinguish this model from other graph data models. We then move into the fundamental issue of querying RDF data. We start by considering the RDF query language SPARQL, which is a W3C Recommendation since January 2008. We provide an algebraic syntax and a compositional semantics for this language, study the complexity of the evaluation problem for different fragments of SPARQL, and consider the problem of optimizing the evaluation of SPARQL queries, showing that a natural fragment of this language has some good properties in this respect. We furthermore study the expressive power of SPARQL, by comparing it with some well-known query languages such as relational algebra. We conclude by considering the issue of querying RDF data in the presence of RDFS vocabulary. In particular, we present a recently proposed extension of SPARQL with navigational capabilities.