Circuits are being implemented with the help of Arduino IDE and being simulated by TInkercad from Autodesk.Various sensors are used here.

Simulators are commonly available, with the Tinkercad Circuits platform covered here accessible in your browser. This is circuit simulation made simple!

For breadboarding your next great Arduino-powered robot, maybe not so much. If you remember Circuits123 (or circuits.io), this is the same underlying technology.

arduino-circuit Academic project that attempts to simulate the behaviour of an automatic control system implemented in C++ for arduino.