QEPCAD B: a program for computing with semi-algebraic sets using CADs

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Algorithms in real algebraic geometry (2003, background): “Cylindrical algebraic decomposition discussed in Chapter 11 has also been implemented many times, see for example [47, 31, 148].”
Solving non-linear arithmetic (2012, methodology): “We compare the new solver to the following solvers that have been reported to perform reasonably well on fragments of nonlinear arithmetic: the z3 3.2 [14], cvc3 2.4.1 [2], and MiniSmt 0.3 [51] SMT solvers; the quantifier elimination based solvers Mathematica 8.0 [42,41], QEPCAD 1.65 [ 6 ], Redlog-C”
Parametric optimization and optimal control using algebraic geometry methods (2006, methodology): “The off-line computations in this example have been carried out with the help of the software tool QEPCAD B (Brown 2003).”
Funnel libraries for real-time robust feedback motion planning (2016, neutral): “While the worst-case complexity of doing general-purpose quantifier elimination is poor, software packages such as QEPCAD (Brown, 2003) (or dReal (Gao et al., 2013), which is based on a different theoretical framework) can often work well in practice for specialized problems.”