Agent R is a raccoon, who works for the O.W.C.A.. His first name is unknown, and not much is shown of him, though he takes part in a major fight. It is possible that he has a nemesis. ("It's About Time!")
There may be more than one raccoon agent. The raccoon agent that appears in "Candace Loses Her Head" has different fur coloring around the muzzle, chest and front paws than the agent that appears in "It's About Time!". And the one that appeared in "Robot Rodeo" was like a combination of the first two.
So far only Raccoon #2 has been seen frequently and most unlike Raccoon #1 & #3 which they had only 4 (#1) and 1 (#3).
They could also be siblings as since most raccoons would live together.