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Distributed applications and middleware services targeted for mobile devices must use device discovery service to provide any kind of service to other devices. Device discovery algorithms developed for wired networks are not suitable for mobile ad-hoc networks of pervasive computing environments. This research proposes a dependable device discovery mechanism for the middleware of the applications consisting of rapidly reconfiguring mobile devices. Our approach offers a comprehensive solution to potential problems that can arise in highly adaptive mobile ad-hoc networks of pervasive computing environments. The approach is robust enough to accommodate the device limitations and rapid changes in the resource strengths of each device in the network. We present three new device discovery algorithms in this paper: a window based broadcasting algorithm, a connectivity based dynamic algorithm, and a policy-based scalable algorithm. The algorithms vary in complexity and efficiency depending upon the pervasive computing applications. We identify the desirable dependability related characteristics of device discovery services and present how our algorithms realize those characteristics. Experimental results are presented to compare and contrast the algorithms.