The vast number of devices connected to the IoT leverages cyber-physical systems, where the device location is used to properly take advantage of the device environment. Service-oriented architectures for the IoT converge with the need for locating physical devices, and more enabling technologies are required to leverage the development of real world use cases.In this work we propose a location-aware discovery mechanism for the IoT, based on a decentralized service-oriented platform called Swarm. The Swarm uses Semantic Web technologies for device communication and we extended that model to describe the geolocation information of services in a network of IoT devices. We describe in detail our architecture and implementation. As a result, we created a reference implementation of the complete mechanism, and tested it in a personal assistant scenario that recruits services based on their location.