Artificial Immune Systems (AIS) have been widely used in different fields such as robotics, computer science, and multi-agent systems with high efficacy. This is a survey chapter within which single and multi-agent systems inspired by immunology concepts are presented and analyzed. Most of the work is usually based on the adaptive immune response characteristics, such as clonal selection, idiotypic networks, and negative selection. However, the innate immune response has been neglected and there is not much work where innate metaphors are used as inspiration source to develop robotic systems. Therefore, a work that involves some interesting features of the innate and adaptive immune responses in a cognitive model for object transportation is presented at the end of this chapter.