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Is it possible to gather remote hosts information (Like CPU usage, Used-Memory, Free-Memory, ...) without installing agents on those hosts?
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Nope. You either need to install an agent that you can communicate with, or you need to collect it using some form of remote execution (SSH/RSH).
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I want to get these information directly from linux kernel itself or at least from one of its native services/deamons.
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There is nothing built into Linux that you can communicate with.
There are two commercial products that I know of that collect performance metrics. TeamQuest has an agent that you install on each system; IBM's Tivoli products are agentless, but you must allow ssh access into your systems and provide sudo entries to collect the data that it wants. The Open Source product Nagios allows you to choose, depending on what you want to do, between agentless and agent collection. Google them if you're curious.