diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp
index 3932aabb8..36cb0bc41 100644
--- a/LibCarla/source/carla/client/Actor.cpp
+++ b/LibCarla/source/carla/client/Actor.cpp
@@ -88,6 +88,10 @@ namespace client {
     GetEpisode().Lock()->SetActorCollisions(*this, enabled);
   }
 
+  void Actor::SetActorDead() {
+    GetEpisode().Lock()->SetActorDead(*this);
+  }
+
   void Actor::SetEnableGravity(const bool enabled) {
     GetEpisode().Lock()->SetActorEnableGravity(*this, enabled);
   }
diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h
index e86bf3f28..639a7ecb2 100644
--- a/LibCarla/source/carla/client/Actor.h
+++ b/LibCarla/source/carla/client/Actor.h
@@ -102,6 +102,9 @@ namespace client {
     /// Enable or disable collisions on this actor.
     void SetCollisions(bool enabled = true);
 
+    /// Set actor as dead and starts his life span
+    void SetActorDead();
+
     /// Enable or disable gravity on this actor.
     void SetEnableGravity(bool enabled = true);
 
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 0733b1f7d..04b21f26d 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -416,6 +416,10 @@ namespace detail {
     _pimpl->CallAndWait<void>("set_actor_collisions", actor, enabled);
   }
 
+  void Client::SetActorDead(rpc::ActorId actor) {
+    _pimpl->AsyncCall<void>("set_actor_dead", actor);
+  }
+
   void Client::SetActorEnableGravity(rpc::ActorId actor, const bool enabled) {
     _pimpl->AsyncCall("set_actor_enable_gravity", actor, enabled);
   }
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 8f44b962f..3d5ee9b8e 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -240,6 +240,9 @@ namespace detail {
         rpc::ActorId actor,
         bool enabled);
 
+    void SetActorDead(
+        rpc::ActorId actor);
+
     void SetActorEnableGravity(
         rpc::ActorId actor,
         bool enabled);
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index bd600740f..69b3c04d4 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -435,6 +435,10 @@ namespace detail {
       _client.SetActorCollisions(actor.GetId(), enabled);
     }
 
+    void SetActorDead(Actor &actor) {
+      _client.SetActorDead(actor.GetId());
+    }
+
     void SetActorEnableGravity(Actor &actor, bool enabled) {
       _client.SetActorEnableGravity(actor.GetId(), enabled);
     }
diff --git a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
index dbce47232..87f934e98 100644
--- a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
+++ b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
@@ -66,6 +66,7 @@ namespace detail {
       if (_nav.IsWalkerAlive(handle.walker, alive)) {
         if (!alive) {
           _client.SetActorCollisions(handle.walker, true);
+          _client.SetActorDead(handle.walker);
           // remove from the crowd
           _nav.RemoveAgent(handle.walker);
           // destroy the controller
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
index cfea3ea83..f9dacdc91 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
@@ -1454,3 +1454,26 @@ ECarlaServerResponse FWalkerActor::GetPoseFromAnimation()
   }
   return ECarlaServerResponse::Success;
 }
+
+ECarlaServerResponse FWalkerActor::SetActorDead()
+{
+  if (IsDormant())
+  {
+  }
+  else
+  {
+    auto Pawn = Cast<APawn>(GetActor());
+    if (Pawn == nullptr)
+    {
+      return ECarlaServerResponse::NotAWalker;
+    }
+    auto Walker = Cast<AWalkerBase>(Pawn);
+    if (Walker == nullptr)
+    {
+      return ECarlaServerResponse::NotAWalker;
+    }
+    Walker->StartDeathLifeSpan();
+    UE_LOG(LogCarla, Warning, TEXT("Walker starting life span by dead"));
+  }
+  return ECarlaServerResponse::Success;
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
index 0f3903a05..8429eb2f8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
@@ -415,6 +415,11 @@ public:
     return ECarlaServerResponse::ActorTypeMismatch;
   }
 
+  virtual ECarlaServerResponse SetActorDead()
+  {
+    return ECarlaServerResponse::ActorTypeMismatch;
+  }
+
   virtual ECarlaServerResponse FreezeTrafficLight(bool)
   {
     return ECarlaServerResponse::ActorTypeMismatch;
@@ -609,6 +614,8 @@ public:
   virtual ECarlaServerResponse BlendPose(float Blend);
 
   virtual ECarlaServerResponse GetPoseFromAnimation();
+
+  virtual ECarlaServerResponse SetActorDead();
 };
 
 class FOtherActor : public FCarlaActor
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
index 4694c3335..5558e5b4e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
@@ -352,6 +352,8 @@ private:
 
   bool SetActorCollisions(FCarlaActor &CarlaActor, bool bEnabled);
 
+  bool SetActorDead(FCarlaActor &CarlaActor);
+
   void TickTimers(float DeltaSeconds)
   {
     ElapsedGameTime += DeltaSeconds;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 42ad45835..ca3e6b713 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -1409,6 +1409,30 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(set_actor_dead) << [this](
+      cr::ActorId ActorId) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "set_actor_dead",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    ECarlaServerResponse Response =
+        CarlaActor->SetActorDead();
+    if (Response != ECarlaServerResponse::Success)
+    {
+      return RespondError(
+          "set_actor_dead",
+          Response,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    return R<void>::Success();
+  };
+
   BIND_SYNC(set_actor_enable_gravity) << [this](
       cr::ActorId ActorId,
       bool bEnabled) -> R<void>
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
index d032d5d57..676569ed4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
@@ -21,4 +21,12 @@ public:
   UPROPERTY(Category="Walker Base", BlueprintReadWrite, EditAnywhere)
   bool bAlive = true;
 
+  UPROPERTY(Category="Walker Base", BlueprintReadWrite, EditAnywhere)
+  float AfterLifeSpan = 10.0f;
+
+  UFUNCTION(BlueprintCallable)
+  void StartDeathLifeSpan()
+  {
+    SetLifeSpan(AfterLifeSpan);
+  }
 };