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iOS libraries

• upnpx (http://code.google.com/p/upnpx)

Java / Android libraries

• Cling (http://4thline.org/projects/cling)

Cross Platform libraries

• Platinum UPnP (http://www.plutinosoft.com/platinum)
• pupnp (http://pupnp.sourceforge.net/)
• GUPnP https://live.gnome.org/GUPnP/

Pages that list UPNP libraries

• http://upnp.org/sdcps-and-certification/resources/sdks/
• http://elinux.org/DLNA_Open_Source_Projects