In this paper, a new cognitive model for a multi-agent object transportation is proposed. Such model is inspired by the innate and adaptive immune responses. Some relevant characteristics of macrophages and Th1 cells are modeled and incorporated in this artificial immune system; particulary the function of a Toll-Like Receptor on a macrophage to detect pathogen-associated molecular patterns on an antigen and the function of a T cell receptor on a Th1 cell in activating an infected macrophage. The agents and their funcionality were implemented and validated using the Player/Stage platform obtaining good results.