This constraint is often known as HATEOAS or hypermedia constraint. In Roy T. Fielding's dissertation, there is no detailed explanation of this constraint. The following definition from Wikipedia provides a good definition:
Having accessed an initial URI for the REST application—analogous to a human web user accessing the home page of a website—a REST client should then be able to use server-provided links dynamically to discover all the available actions and resources it needs. As access proceeds, the server responds with text that includes hyperlinks to other actions that are currently available. There is no need for the client to be hardcoded with information regarding the structure or ...