Do you mean service discovery as in UDDI? It sounds a bit like it's old SOA ideas all over again - they failed and it would be beneficial to understand why before we make the same mistakes.
Not sure, I've not heard of UDDI before. Mostly I mean, in a really general sense, that servers come up and become part of a cluster or group of systems providing a service.
says Microsoft, IBM, et.al. abandoned their efforts of providing public service discovery infrastructure. Doing it the same for REST may just be repeating of old mistakes.