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The RDF graph-based data model has seen ever-broadening adoption in recent years, prompting the standardization of the SPARQL query language for RDF, and the development of local and distributed engines for processing SPARQL queries. This survey paper provides a comprehensive review of techniques, engines and benchmarks for querying RDF knowledge graphs. While other reviews on this topic tend to focus on the distributed setting, the main focus of the work is on providing a comprehensive survey of state-of-the-art storage, indexing and query processing techniques for efficiently evaluating SPARQL queries in a local setting (on one machine). To keep the survey self-contained, we also provide a short discussion on graph partitioning techniques used in the distributed setting. We conclude by discussing contemporary research challenges for further improving SPARQL query engines. An online extended version also provides a survey of over one hundred SPARQL query engines and the techniques they use, along with twelve benchmarks and their features.
Graph query languages feature mainly two kinds of queries when applied to a graph database: those inspired by relational databases which return tables such as SELECT queries and those which return graphs such as CONSTRUCT queries in SPARQL. The latte
Knowledge Graphs (KGs) have emerged as the de-facto standard for modeling and querying datasets with a graph-like structure in the Semantic Web domain. Our focus is on the performance challenges associated with querying KGs. We developed three inform
The recent advancements of the Semantic Web and Linked Data have changed the working of the traditional web. There is significant adoption of the Resource Description Framework (RDF) format for saving of web-based data. This massive adoption has pave
The class of queries for detecting path is an important as those can extract implicit binary relations over the nodes of input graphs. Most of the path querying languages used by the RDF community, like property paths in W3C SPARQL 1.1 and nested reg
Finding a good query plan is key to the optimization of query runtime. This holds in particular for cost-based federation engines, which make use of cardinality estimations to achieve this goal. A number of studies compare SPARQL federation engines a