Answering queries over a federation of SPARQL endpoints requires combining data from more than one data source. Optimizing queries in such scenarios is particularly challenging not only because of (i) the large variety of possible query execution plans that correctly answer the query but also because (ii) there is only limited access to statistics about schema and instance data of remote sources. To overcome these challenges, most federated query engines rely on heuristics to reduce the space of possible query execution plans or on dynamic programming strategies to produce optimal plans. Nevertheless, these plans may still exhibit a high number of intermediate results or high execution times because of heuristics and inaccurate cost estimations. In this paper, we present Odyssey, an approach that uses statistics that allow for a more accurate cost estimation for federated queries and therefore enables Odyssey to produce better query execution plans. Our experimental results show that Odyssey produces query execution plans that are better in terms of data transfer and execution time than state-of-the-art optimizers. Our experiments using the FedBench benchmark show execution time gains of at least 25 times on average.
Federated query optimization can also rely on cardinality estimations based on statistics and used, for instance, to reduce sizes of intermediate results. Most available statistics @cite_16 use the Vocabulary of Interlinked Datasets voiD @cite_6 , which describes statistics at dataset level (e.g., the number of triples), at the property level (e.g., for each property, its number of different subjects), and at the class level (e.g., the number of instances of each class). However, approaches based on voiD @cite_8 @cite_10 @cite_0 and other statistics, such as QTrees @cite_20 and PARTrees @cite_5 , share the drawback of missing the best query execution plans because of errors in estimating cardinalities caused by relying on assumptions that often do not hold for arbitrary RDF datasets @cite_19 , e.g., a uniform data distribution and that the results of triple patterns are independent.
@cite_8 @cite_6 @cite_0 @cite_19 @cite_5 @cite_16 @cite_10 @cite_20
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Virtually every commercial query optimizer chooses the best plan for a query using a cost model that relies heavily on accurate cardinality estimation. Cardinality estimation errors can occur due to the use of inaccurate statistics, invalid assumptions about attribute independence, parameter markers, and so on. Cardinality estimation errors may cause the optimizer to choose a sub-optimal plan. We present an approach to query processing that is extremely robust because it is able to detect and recover from cardinality estimation errors. We call this approach "progressive query optimization" (POP). POP validates cardinality estimates against actual values as measured during query execution. If there is significant disagreement between estimated and actual values, execution might be stopped and re-optimization might occur. Oscillation between optimization and execution steps can occur any number of times. A re-optimization step can exploit both the actual cardinality and partial results, computed during a previous execution step. Checkpoint operators (CHECK) validate the optimizer's cardinality estimates against actual cardinalities. Each CHECK has a condition that indicates the cardinality bounds within which a plan is valid. We compute this validity range through a novel sensitivity analysis of query plan operators. If the CHECK condition is violated, CHECK triggers re-optimization. POP has been prototyped in a leading commercial DBMS. An experimental evaluation of POP using TPC-H queries illustrates the robustness POP adds to query processing, while incurring only negligible overhead. A case-study applying POP to a real-world database and workload shows the potential of POP, accelerating complex OLAP queries by almost two orders of magnitude. Cost-based query optimizers need to estimate the selectivity of conjunctive predicates when comparing alternative query execution plans. To this end, advanced optimizers use multivariate statistics to improve information about the joint distribution of attribute values in a table. The joint distribution for all columns is almost always too large to store completely, and the resulting use of partial distribution information raises the possibility that multiple, non-equivalent selectivity estimates may be available for a given predicate. Current optimizers use cumbersome ad hoc methods to ensure that selectivities are estimated in a consistent manner. These methods ignore valuable information and tend to bias the optimizer toward query plans for which the least information is available, often yielding poor results. In this paper we present a novel method for consistent selectivity estimation based on the principle of maximum entropy (ME). Our method exploits all available information and avoids the bias problem. In the absence of detailed knowledge, the ME approach reduces to standard uniformity and independence assumptions. Experiments with our prototype implementation in DB2 UDB show that use of the ME approach can improve the optimizer’s cardinality estimates by orders of magnitude, resulting in better plan quality and significantly reduced query execution times. For almost all queries, these improvements are obtained while adding only tens of milliseconds to the overall time required for query optimization. We critically evaluate the current state of research in multiple query opGrnization, synthesize the requirements for a modular opCrnizer, and propose an architecture. Our objective is to facilitate future research by providing modular subproblems and a good general-purpose data structure. In rhe context of this archiuzcture. we provide an improved subsumption algorithm. and discuss migration paths from single-query to multiple-query oplimizers. The architecture has three key ingredients. First. each type of work is performed at an appropriate level of abstraction. Segond, a uniform and very compact representation stores all candidate strategies. Finally, search is handled as a discrete optimization problem separable horn the query processing tasks. 1. Problem Definition and Objectives A multiple query optimizer (h4QO) takes several queries as input and seeks to generate a good multi-strategy, an executable operator gaph that simultaneously computes answers to all the queries. The idea is to save by evaluating common subexpressions only once. The commonalities to be exploited include identical selections and joins, predicates that subsume other predicates, and also costly physical operators such as relation scans and SOULS. The multiple query optimization problem is to find a multi-strategy that minimizes the total cost (with overlap exploited). Figure 1 .l shows a multi-strategy generated exploiting commonalities among queries Ql-Q3 at both the logical and physical level. To be really satisfactory, a multi-query optimization algorithm must offer solution quality, ejjiciency, and ease of Permission to copy without fee all a part of this mataial is granted provided that the copies are nut made a diitributed for direct commercial advantage, the VIDB copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Very Large Da Blse Endowment. To copy otherwise. urturepublim identify many kinds of commonalities (e.g., by predicate splitting, sharing relation scans); and search effectively to choose a good combination of l-strategies. Efficiency requires that the optimization avoid a combinatorial explosion of possibilities, and that within those it considers, redundant work on common subexpressions be minimized. ‘Finally, ease of implementation is crucial an algorithm will be practically useful only if it is conceptually simple, easy to attach to an optimizer, and requires relatively little additional soft- Accurate cardinality estimates are essential for a successful query optimization. This is not only true for relational DBMSs but also for RDF stores. An RDF database consists of a set of triples and, hence, can be seen as a relational database with a single table with three attributes. This makes RDF rather special in that queries typically contain many self joins. We show that relational DBMSs are not well-prepared to perform cardinality estimation in this context. Further, there are hardly any special cardinality estimation methods for RDF databases. To overcome this lack of appropriate cardinality estimation methods, we introduce characteristic sets together with new cardinality estimation methods based upon them. We then show experimentally that the new methods are-in the RDF context-highly superior to the estimation methods employed by commercial DBMSs and by the open-source RDF store RDF-3X.