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Discovering services acquires importance as Service-Oriented Computing (SOC) becomes an adopted paradigm. SOC’s most popular materializations, namely Web Services technologies, have different challenges related to service discovery and, in turn, many approaches have been proposed. As these approaches are different, one solution may be better than another according to certain requirements. In consequence, choosing a service discovery system is a hard task. To alleviate this task, this paper proposes eight criteria, based on the requirements for discovering services within common service-oriented environments, allowing the characterization of discovery systems. These criteria cover functional and non-functional aspects of approaches to service discovery. The results of the characterization of 22 contemporary approaches and potential research directions for the area are also shown.