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Agent technology is increasingly seen as an attractive approach to develop applications for pervasive environments. However, it is a challenge to develop agent systems for such complex and dynamic environments. We propose a novel approach to develop software for pervasive environments by using context-aware adaptive agents. Our agents have the ability to exchange their capabilities with peers, are self-adaptive and enable software reuse through a component-based infrastructure. The solution also enables reduced network traffic and has the potential to allow agents to execute on heterogeneous agent platforms. We also describe the first implementation of the solution and discuss experiments carried out with it and possible further enhancements.