IPC = Inter Process Communication
Semaphores (not certain about this) are flags that multiple processes can access and set.
Message Queues are a facility for processes to send a stream of data to each other.
Shared Memory are blocks of memory that multiple processes can access and/or update.
The ipcrm command can be used to remove allocated IPC resources, but these are usually cleaned up by well-behaved processes when they exit.
I know of no such documents, but I'm sure Google will find something interesting for you.
Annihilannic.