Three simulators are available with e-puck modules:

- ENKI , an open-source, fast 2D physics-based robot simulator written in C++. It is able to simulate cinematics, collisions, sensors and cameras of robots evolving on a flat surface. It also provides limited support for friction. It is able to simulate groups of robots hundred times faster than realtime on a modern desktop computer.

- WEBOTS , a efficient 3D physics-based robot simulator that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The included robot libraries allow you to transfer your control programs to many commercially available real mobile robots, including the e-puck robot. Webots comes with:
- several simulations samples for the e-puck robot, with both kinematics (based on ENKI) and dynamics models (based on the ODE library).
- many simulated e-puck devices: 3D accelerometer, differential wheels, proximity sensors, light sensors, wireless communication, LEDs and camera.
- a remote-control tool so that you can monitor and remote control a real e-puck robot from your controller program over Bluetooth.
- a complete cross-compilation system allowing you to cross-compile your robot controllers and upload them onto real e-puck robot over Bluetooth.
Webots and the included e-puck cross-compilation tools, run on Linux, Windows and Mac OS X. The free version of Webots allows you to cross-compile e-puck programs.

- V-REP, a distributed control 3D robot simulator, that allows to create whole robotic systems, simulate, and interact with dedicated hardware. It possesses several calculation modules, e.g. sensor simulation (proximity/camera), inverse/forward kinematics, two physics engines (Bullet/ODE), path planning, minimum distance calculation, graphing, etc. A fully operational version for students can be downloaded.

- ARGoS, an open-source robot simulator designed to efficiently simulate large groups of robots. ARGoS is highly modular, allowing the users to define and use multiple instances of robots, sensors, actuators or physics engines simultaneously. The simulator comes with the basic version of the e-puck robot, and the ARGoS-Epuck plugin allows for the extensions such as the range-and-bearing board, the ground sensors and the omnidirectional camera to be used as well. ARGoS runs on Linux and Mac OSX, and the e-puck plugin allows you to cross-compile e-puck controllers, provided that your robot is equipped with the Linux board.