Autoresponses can be sent as the action to any filter. First, create your autoresponse.
Messages are always sent from the email address that your correspondent's message was sent to.
Once your message is created, you can set up an email filter, using all the same criteria as are available for other filters. Then, at the action step, select "Send An Automatic Response", then choose the name of your autoresponse that you wish to send. The message sender will get the autoresponse you created, and you will have their original message forwarded on to you.