  The Kepler survey provides a statistical census of planetary systems out to
the habitable zone. Because most planets are non-transiting, orbital
architectures are best estimated using simulated observations of ensemble
populations. Here, we introduce EPOS, the Exoplanet Population Observation
Simulator, to estimate the prevalence and orbital architectures of multi-planet
systems based on the latest Kepler data release, DR25. We estimate that at
least 42% of sun-like stars have nearly coplanar planetary systems with 7 or
more exoplanets. The fraction of stars with at least one planet within 1 au
could be as high as 100% depending on assumptions about the distribution of
single transiting planets. We estimate an occurrence rate of planets in the
habitable zone around sun-like stars of eta_earth=36+-14%. The innermost
planets in multi-planet systems are clustered around an orbital period of 10
days (0.1 au), reminiscent of the protoplanetary disk inner edge or could be
explained by a planet trap at that location. Only a small fraction of planetary
systems have the innermost planet at long orbital periods, with fewer than ~8%
and ~3% having no planet interior to the orbit of Mercury and Venus,
respectively. These results reinforce the view that the solar system is not a
typical planetary system, but an outlier among the distribution of known
exoplanetary systems. We predict that at least half of the habitable zone
exoplanets are accompanied by (non-transiting) planets at shorter orbital
periods, hence knowledge of a close-in exoplanet could be used as a way to
optimize the search for Earth-size planets in the Habitable Zone with future
direct imaging missions.
