Work on query languages began to surface within W3C in 1998 at its
QL98. Subsequent developments include Rql, SquishQl and its ancestor Rdql. While Rdql has been submitted to W3C, there's no standard on an Rdf query language up to now. W3C has a more complete summary on RdfStorage and RdfQuery on its main RDF page.
Main site: http://swordfish.rdfweb.org/rdfquery/
An implementation in Java is available supporting in-memory and
PostgreSQL (via JDBC) backends. It' licensed under the GPL
compatible W3C license.
Subsequently evolved to Rdql.