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Re:RAML – RESTful API modeling language by SeldomSoup on Thursday September 10, 2015 @05:54PM (#10200787)
Oops. That's one detail I missed in all those API tutorials. Thanks.
Re:RAML – RESTful API modeling language by danellis on Thursday September 10, 2015 @06:05PM (#10200852)
The canonical source is Roy Fielding's thesis, in particular chapters 5 and 6.

https://www.ics.uci.edu/~fielding/pubs/dissertation/top.htm