[http] Correct way to pass multiple values for same parameter name in GET request

Indeed, there is no defined standard. To support that information, have a look at wikipedia, in the Query String chapter. There is the following comment:

While there is no definitive standard, most web frameworks allow multiple values to be associated with a single field.[3][4]

Furthermore, when you take a look at the RFC 3986, in section 3.4 Query, there is no definition for parameters with multiple values.

Most applications use the first option you have shown: http://server/action?id=a&id=b. To support that information, take a look at this Stackoverflow link, and this MSDN link regarding ASP.NET applications, which use the same standard for parameters with multiple values.

However, since you are developing the APIs, I suggest you to do what is the easiest for you, since the caller of the API will not have much trouble creating the query string.