I apologize that we never answered this question, as it appears this fell through the cracks last year. I imagine you have likely already figured this out since this was posted in August, but this information may be of use for other customers visiting here as well, so I'd like to reply accordingly (better late than never after all).
Yes, there is a way -- Using the zero touch method, once installed, the agent should register itself as long as there is no communication problem.
There is a really good guide posted here in the Communities that will step through how to do this: Zero Touch Deployment of CA Release Automation 5.0