I've used Xapian extensively, but not this new Xapiand tool, so I can only speak to the actual library. Xapian is a C++ library that accesses index data files directly on disk. There are bindings for various languages, say Python, let's you do 'import xapian' and get FFI bindings to the library, then you basically open your on disk index files and issue queries.
Xapian supports many concurrent readers, but only one writer. It's not a server, there are no protocols. Maybe that's what this Xapiand tool adds. In general the overhead is very, very light, just enough ram to hold the library code, the OS takes care of all the filesystem level caching.
Many of the very same concepts that are in Lucene, Documents, Terms, weights, flavors of BM25 relevance ranking, query parsing trees, relevancy operators, etc, all apply to Xapian as well.