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This paper describes existing work related to the development of adaptive systems and approaches in ubiquitous and pervasive environments and sheds more light on how features from natural and biological systems could be exploited for engineering adaptive systems. Ubiquitous and pervasive systems are composed of different heterogeneous parts or entities that interact and perform actions favoring the emergence of global desired behavior. Furthermore, in this type of systems entities might join ordoi:10.1007/s40860-015-0010-6 fatcat:iu7uphtgdjchxfl6xmh45qgy5e