A method for performing open discovery in a communications system includes determining, by a device-to-device (D2D ) device, resource allocation information for a discovery cycle including discovery resources allocated for transmission of discovery signals by D2D devices. The method also includes selecting, by the D2D device, a first discovery resource of the discovery cycle in accordance with the resource allocation information, and transmitting, by the D2D device, a discovery signal in the selected first discovery resource.