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The following is an alphabetical list of the minor characters in the various versions of The Hitchhiker's Guide to the Galaxy, by Douglas Adams. The descriptions of the characters are accompanied by information on details about appearances and references to the characters. Major characters— Arthur Dent, Ford Prefect, Zaphod Beeblebrox, Marvin the Paranoid Android, Trillian, and Slartibartfast—are separately described.

Lists are also available for places in The Hitchhiker's Guide to the Galaxy, races and species in The Hitchhiker's Guide to the Galaxy, technology in The Hitchhiker's Guide to the Galaxy, phrases from The Hitchhiker's Guide to the Galaxy, and cast lists for The Hitchhiker's Guide to the Galaxy.

Agrajag is a piteous creature that is continually reincarnated and subsequently killed, each time unknowingly, by Arthur Dent. Agrajag is first identified in the novel Life, the Universe and Everything, but it is revealed that several of Arthur's encounters in the first and second novels (and in previous chapters of the third) were with previous incarnations of Agrajag. The first occurs in the novel The Hitchhiker's Guide to the Galaxy, when a bowl of petunias is suddenly yanked into existence miles above the planet Magrathea, and begins falling, having only time to think, "Oh no, not again," before crashing to the ground. The reason behind the bowl's lament is revealed in the novel Life, the Universe and Everything, when Agrajag identifies the bowl of petunias as one of his prior incarnations, and tells Arthur that he had seen his face in a spaceship window as he fell to his doom. In another incarnation, Agrajag was a rabbit on prehistoric Earth (during the time period recounted in the novel The Restaurant at the End of the Universe) who was killed by Arthur for breakfast and whose skin was fashioned into a pouch, which is then used to swat a fly who also happened to be Agrajag. In yet another, near the beginning of the novel Life, the Universe and Everything, Agrajag is an old man who dies of a heart attack after seeing Arthur and Ford materialise, seated on a Chesterfield sofa, in the midst of a match at Lord's Cricket Ground.

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