In 1998, as part of biodiversity survey to assess the health of New York City’s Central Park, researchers at the American Museum of Natural History collected leaf litter samples. After sorting, the museum sent a collection of Central Park millipedes and centipedes to Richard L. Hoffman, curator for invertebrates at the Virginia 
Museum of Natural History. After study, Dr. Hoffman sent several specimens he could not identify to scientists in Italy. In July 2002, Italian scientists announced the Central Park centipede was a new species, and named it Nannarrup hoffmani in honor of Dr. Hoffman. In October 2003, Foddai, Bonato, Pereira, and Minelli published the species description in Journal of Natural History. As of April 2006, the journal issue containing the description is available to subscribers or by payment per article.
My summary: 1 new species, found across the street from one of the world’s premier natural history research institutions, recognized as a new species 4 years later, published description year 5, awaiting public access year 8. I believe that DNA barcoding can provide taxonomists with scientific tools and help attract funding to accelerate this process.