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TriAL : A Navigational Algebra for RDF Triplestores:

Libkin, Leonid ; Reutter, Juan L. ; Soto, Adrián.
ACM Transactions on Database Systems (TODS).  43 (2018)  1 - p. 1-46 , 2018
Link: https://dl.acm.org/doi/10.1145/3154385