Epimetheus is an inner satellite of Saturn. It is also known as Saturn XI. It is named after the mythological Epimetheus, brother of Prometheus.
Epimetheus occupies essentially the same orbit as the moon Janus. Astronomers assumed that there was only one body in that orbit, and accordingly had difficulty determining their orbital characteristics. Observations were photographic and spaced widely apart in time, so that while the presence of two objects was not obvious, the observations were difficult to reconcile with a reasonable orbit.
Audouin Dollfus observed a moon on December 15, 1966, which he proposed to be named “Janus”. On 18 December, Richard Walker made a similar observation which is now credited as the discovery of Epimetheus. However, at the time, it was believed that there was only one moon, unofficially known as “Janus”, in the given orbit.
Twelve years later, in October 1978, Stephen M. Larson and John W. Fountain realised that the 1966 observations were best explained by two distinct objects (Janus and Epimetheus) sharing very similar orbits. This was confirmed in 1980 by Voyager 1, and so Larson and Fountain officially share the discovery of Epimetheus with Walker.
Epimetheus received its name in 1983. The name Janus was approved by the IAU at the same time, although the name had been used informally since Dollfus proposed it shortly after the 1966 discovery.