If all the devices are on the same machine, you can do some sort of rendezvous by making a well known location that all servers register themselves with. It would act as a registration for all local services.
If the devices are on the same network, you'll have to do something more complicated, like using an out of band networking library to broadcast to the local network to see whos up. This is hard.
If they are on the internet, then going back to the registration service and running a custom DNS server is possible. Each server will tell the DNS server they are up, and then prospective clients can look up all servers.
Lastly, long term, Service Config (Configuration from TXT DNS records) will be added automatically. You might be able to put the information in there.