Automating discovery and composition of RESTful services with the help of semantic Web technologies is a key challenge to exploit today's Web potential. In this paper, we show how semantic annotations on resource descriptions can drive discovery algorithms on the Web. We propose a semantically-enabled variant of the BFS discovery algorithm that aims at minimizing the number of links explored while maximizing result diversity. Our algorithm calculates semantic distances between resource descriptions and user request concepts to rank explored resources accordingly. We demonstrate the applicability of our solution with a typical scenario and provide an evaluation with a prototype.