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In this paper, we present a methodology for the automatic generation of layout for radio frequency (RF) designs using embedded passives. Our methodology is divided into three steps: 1) pre-layout optimization; 2) placement and routing; and 3) post-layout optimization. We show that our methodology generates layouts with small area and good performance response within a fraction of design time compared with fully manual design effort. We make use of circuit models to represent and optimize the physical layout of the resistance-inductance-capacitance (RLC) components as well as the entire RF circuit that uses them. We perform non-linear mathematical programming-based optimization at various stages of the methodology to achieve high quality layouts. Full wave electromagnetic simulations are kept completely out of the design loop, so our methodology significantly reduces design time. We have used our methodology to successfully generate layouts for large-scale filter circuits.