Is there a way to detect available Avahi services from Android?

I have a local printer connected to my desktop. It is published with Avahi, so that I can use it from my netbook in the same WLAN. I want to also make this printer available from Android devices (my own, family members, guests). Can Android devices detect Avahi services? Or do I have to configure it some other way?

Quoting avahi.org:

Avahi is a system which facilitates service discovery on a local network via the mDNS/DNS-SD protocol suite. This enables you to plug your laptop or computer into a network and instantly be able to view other people who you can chat with, find printers to print to or find files being shared.

So if your android support that protocol, it should pickup your printer.
(assuming your current setup works already for your netbook)