diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
new file mode 100644
index 000000000..aa1069c53
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@@ -0,0 +1,62 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "AgentComponent.h"
+
+#include "Agent/AgentMap.h"
+#include "Game/CarlaGameModeBase.h"
+#include "Game/DataRouter.h"
+
+static uint32 GetNextId()
+{
+  static uint32 COUNT = 0u;
+  return ++COUNT;
+}
+
+static TSharedPtr<FAgentMap> GetAgentMap(UWorld *World)
+{
+  check(World != nullptr);
+  auto *GameMode = Cast<ACarlaGameModeBase>(World->GetAuthGameMode());
+  check(GameMode != nullptr);
+  return GameMode->GetDataRouter().GetAgents();
+}
+
+UAgentComponent::UAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer),
+    Id(GetNextId()) {}
+
+void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
+{
+  unimplemented();
+}
+
+void UAgentComponent::BeginPlay()
+{
+  Super::BeginPlay();
+
+  // Register this component in the World's list of agents.
+  auto AgentMapPtr = GetAgentMap(GetWorld());
+  if (AgentMapPtr.IsValid()) {
+    AgentMapPtr->Agents.Add(Id, this);
+    AgentMap = AgentMapPtr;
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("AgentComponent: Missing AgentMap!"));
+  }
+}
+
+void UAgentComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  // Deregister this component in the World's list of agents.
+  auto AgentMapPtr = AgentMap.Pin();
+  if (AgentMapPtr.IsValid()) {
+    AgentMapPtr->Agents.Remove(Id);
+  }
+
+  Super::EndPlay(EndPlayReason);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
new file mode 100644
index 000000000..e1788a058
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -0,0 +1,48 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponentVisitor.h"
+
+#include "Components/ActorComponent.h"
+#include "Templates/SharedPointer.h"
+
+#include "AgentComponent.generated.h"
+
+class FAgentMap;
+
+/// Actors with an UAgentComponent are registered as agents in the scene and
+/// their status is sent to the client each frame (if requested by the client).
+UCLASS(Abstract)
+class CARLA_API UAgentComponent : public UActorComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+  uint32 GetId() const
+  {
+    return Id;
+  }
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const;
+
+protected:
+
+  virtual void BeginPlay() override;
+
+  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
+
+private:
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 Id;
+
+  TWeakPtr<FAgentMap> AgentMap = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h
new file mode 100644
index 000000000..9229e7170
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h
@@ -0,0 +1,23 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+class UAgentComponent;
+class UTrafficSignAgentComponent;
+class UVehicleAgentComponent;
+class UWalkerAgentComponent;
+
+class IAgentComponentVisitor
+{
+public:
+
+  virtual void Visit(const UTrafficSignAgentComponent &) = 0;
+
+  virtual void Visit(const UVehicleAgentComponent &) = 0;
+
+  virtual void Visit(const UWalkerAgentComponent &) = 0;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
new file mode 100644
index 000000000..207e9ed13
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+class FAgentMap
+{
+public:
+
+
+private:
+
+  friend class UAgentComponent;
+
+  TMap<uint32, UAgentComponent *> Agents;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
new file mode 100644
index 000000000..f503a7e6a
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "TrafficSignAgentComponent.h"
+
+UTrafficSignAgentComponent::UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UTrafficSignAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
new file mode 100644
index 000000000..3ab481963
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "TrafficSignAgentComponent.generated.h"
+
+/// This component can be added to any AWheeledVehicle to be added as agent.
+/// See UAgentComponent.
+UCLASS()
+class CARLA_API UTrafficSignAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
new file mode 100644
index 000000000..8c9ff1e5f
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
@@ -0,0 +1,23 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "VehicleAgentComponent.h"
+
+#include "WheeledVehicle.h"
+
+UVehicleAgentComponent::UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UVehicleAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+  WheeledVehicle = Cast<AWheeledVehicle>(GetOwner());
+  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to AWheeledVehicle"));
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
new file mode 100644
index 000000000..05b00ea35
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "VehicleAgentComponent.generated.h"
+
+class AWheeledVehicle;
+
+UCLASS()
+class CARLA_API UVehicleAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+  AWheeledVehicle *WheeledVehicle = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
new file mode 100644
index 000000000..30e3dc12b
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "WalkerAgentComponent.h"
+
+UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UWalkerAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
new file mode 100644
index 000000000..db421a72a
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "WalkerAgentComponent.generated.h"
+
+/// This component can be added to any ACharacter to be added as agent.
+/// See UAgentComponent.
+UCLASS()
+class CARLA_API UWalkerAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
index fc5ca8bdc..20f93d696 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
@@ -8,6 +8,7 @@
 #include "CarlaWheeledVehicle.h"
 
 #include "AI/VehicleControl.h"
+#include "Agent/VehicleAgentComponent.h"
 
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
@@ -24,6 +25,8 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VehicleBounds->SetHiddenInGame(true);
   VehicleBounds->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
 
+  VehicleAgentComponent = CreateDefaultSubobject<UVehicleAgentComponent>(TEXT("VehicleAgentComponent"));
+
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
index d143f85f5..8f53592d7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
@@ -12,6 +12,7 @@
 #include "CarlaWheeledVehicle.generated.h"
 
 class UBoxComponent;
+class UVehicleAgentComponent;
 struct FVehicleControl;
 
 /// Base class for CARLA wheeled vehicles.
@@ -111,9 +112,12 @@ private:
   UPROPERTY(Category = "AI Controller", VisibleAnywhere)
   ECarlaWheeledVehicleState State = ECarlaWheeledVehicleState::UNKNOWN;
 
-  UPROPERTY(EditAnywhere)
+  UPROPERTY(Category = "CARLA Wheeled Vehicle", EditAnywhere)
   UBoxComponent *VehicleBounds;
 
+  UPROPERTY(Category = "CARLA Wheeled Vehicle", VisibleAnywhere)
+  UVehicleAgentComponent *VehicleAgentComponent;
+
   UPROPERTY()
   bool bIsInReverse = false;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index 9dc4247a1..b782fe18f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -7,21 +7,22 @@
 #pragma once
 
 #include "GameFramework/GameModeBase.h"
+
+#include "DynamicWeather.h"
 #include "AI/VehicleSpawnerBase.h"
 #include "AI/WalkerSpawnerBase.h"
-#include "CarlaGameControllerBase.h"
-#include "DynamicWeather.h"
-#include "MockGameControllerSettings.h"
+#include "Game/CarlaGameControllerBase.h"
+#include "Game/DataRouter.h"
+#include "Game/MockGameControllerSettings.h"
+
 #include "CarlaGameModeBase.generated.h"
 
 class ACarlaVehicleController;
 class APlayerStart;
 class ASceneCaptureCamera;
+class UCarlaGameInstance;
 class UTaggerDelegate;
 
-/**
- *
- */
 UCLASS(HideCategories=(ActorTick))
 class CARLA_API ACarlaGameModeBase : public AGameModeBase
 {
@@ -39,6 +40,11 @@ public:
 
   virtual void Tick(float DeltaSeconds) override;
 
+  FDataRouter &GetDataRouter()
+  {
+    return DataRouter;
+  }
+
 protected:
 
   /** Used only when networking is disabled. */
@@ -73,6 +79,8 @@ private:
       AController *Player,
       TArray<APlayerStart *> &UnOccupiedStartPoints);
 
+  FDataRouter DataRouter;
+
   CarlaGameControllerBase *GameController;
 
   UPROPERTY()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
new file mode 100644
index 000000000..b8f0a22fc
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
@@ -0,0 +1,45 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "DataRouter.h"
+
+#include "Agent/AgentMap.h"
+#include "Sensor/Sensor.h"
+
+FDataRouter::FDataRouter() : Agents(MakeShared<FAgentMap>()) {}
+
+FDataRouter::~FDataRouter() {}
+
+void FDataRouter::RegisterPlayer(ACarlaVehicleController *InPlayer)
+{
+  if (Player == nullptr) {
+    Player = InPlayer;
+  } else {
+    UE_LOG(
+        LogCarla,
+        Error,
+        TEXT("FDataRouter: Trying to register a second player but only one is supported"));
+  }
+}
+
+void FDataRouter::RegisterSensor(ASensor *InSensor)
+{
+  if (SensorDataSink.Get() != nullptr) {
+    check(InSensor != nullptr);
+    InSensor->SetSensorDataSink(SensorDataSink);
+  } else {
+    UE_LOG(
+        LogCarla,
+        Error,
+        TEXT("FDataRouter: Trying to register a sensor but I don't have a SensorDataSink"));
+  }
+}
+
+void FDataRouter::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+{
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
new file mode 100644
index 000000000..f30968a83
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
@@ -0,0 +1,54 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentMap.h"
+#include "Game/CarlaVehicleController.h"
+#include "Sensor/SensorDataSink.h"
+
+class ACarlaPlayerState;
+class ASensor;
+struct FVehicleControl;
+
+class FDataRouter
+{
+public:
+
+  FDataRouter();
+
+  ~FDataRouter();
+
+  void SetSensorDataSink(TSharedPtr<ISensorDataSink> InSensorDataSink)
+  {
+    SensorDataSink = InSensorDataSink;
+  }
+
+  void RegisterPlayer(ACarlaVehicleController *InPlayer);
+
+  void RegisterSensor(ASensor *InSensor);
+
+  const ACarlaPlayerState &GetPlayerState()
+  {
+    check(Player != nullptr);
+    return Player->GetPlayerState();
+  }
+
+  TSharedPtr<FAgentMap> GetAgents()
+  {
+    return Agents;
+  }
+
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+
+private:
+
+  const TSharedPtr<FAgentMap> Agents;
+
+  ACarlaVehicleController *Player = nullptr;
+
+  TSharedPtr<ISensorDataSink> SensorDataSink = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index f6106dc5c..ce1802262 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -36,8 +36,11 @@ protected:
 
   void WriteSensorData(const FSensorDataView &SensorData)
   {
-    check(SensorDataSink.Get() != nullptr);
-    SensorDataSink->Write(SensorData);
+    if (SensorDataSink.IsValid()) {
+      SensorDataSink->Write(SensorData);
+    } else {
+      UE_LOG(LogCarla, Warning, TEXT("Sensor %d has no data sink."), Id);
+    }
   }
 
 private: