Using Salesforce Messaging for In-App and Web REST API, we can invoke Salesforce Agentforce using REST API.
1. Setup Salesforce Messaging for In-App and Web REST API.
2. In the Messaging Channel, use Omni-Flow as the Routing Type. In the Omni-Channel Flow, use “Agentforce Service Agent” for Route To to invoke Agentforce. Check Step 3 in the following Blog Post.