A significant advantage of multirobot simulation lays on the fact that their physical features and environment can be simulated, and hence, difficulties that spring when managing them are avoided. This paper shows a flexible method for simulating multirobot systems. It provides a simple and non propietary structure of classes, that can be used as the backbone of complex developments, adapted to every multirobot system needings. The approach is based on discrete events systems, so it can simulate the inherent concurrency associated to multirobot systems. The paper presents results obtained when this solution is implemented using MATLAB, a numeric computation tool.