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Resource Discovery (RD) is an important key issue in grid systems since resource reservation and task scheduling are based on it. Classical grid RD systems use keyword-based approaches to describe, and discover resources and services. However, keyword-based approaches are associated with some deficiencies that are inherited from the appearance of Intergrid system with various types of resources, services and middleware in the recent years. Therefore, semantic technology has been introduced to grid RD system to overcome this issue and considerable amount of studies have been done in this context. Such systems are known as semantic-based RD systems. Nevertheless, review or survey studies that can compare and evaluate these studies, and draw the future research directions in this field remain a challenge. This paper addresses this issue. It initially discusses the RD system components, semantic technology and its use in grid systems. The paper then focuses on the use of semantic technology in grid RD system components and presents the current works in this perspective. It also presents a detailed analysis of these systems and the future research directions in this field. Finally, the paper discusses future applications of the semantic-based RD system on emerging technologies such as Meta-brokers and Clouds.