We study the energy and the static spin structure factor of the ground state of the spin-$1/2$ quantum Heisenberg antiferromagnetic model on the kagome lattice. By the iterative application of a few Lanczos steps on accurate projected fermionic wave functions and the Green's function Monte Carlo technique, we find that a gapless (algebraic) $U(1)$ Dirac spin liquid is competitive with previously proposed gapped (topological) ${\mathbb{Z}}_{2}$ spin liquids. By performing a finite-size extrapolation of the ground-state energy, we obtain an energy per site $E/J=\ensuremath{-}0.4365(2)$, which is equal, within three error bars, to the estimates given by the density-matrix renormalization group (DMRG). Our estimate is obtained for a translationally invariant system, and, therefore, does not suffer from boundary effects, like in DMRG. Moreover, on finite toric clusters at the pure variational level, our energies are lower compared to those from DMRG calculations.
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