Aha! A thread which I have a strong interest in as I am also looking to find good console SRPGs
Xxain first of all since it looks like you have a PS3, as a few other people have mentioned I have to strongly recommend Valkyria Chronicles.
I think it ticks all your boxes as it is a console game, has no grinding at all, if units fall in battle and you can't reach them with a teammate they are gone for good - and it has a fantastic story.
I always hated RPGs for being random battle grind-fests and VC was the first SRPG I played and loved it.
I subsequently recommended it to a friend who also enjoyed it and said it reminded him of Fire Emblem: Path of Radience. (I have yet to play any of the FE games but I want to try Path of Radience next)
Another recommendation I can make is Shin Megami Tensei: Persona 4 - in case your not familiar with the series I would best describe it as 50% SRPG and 50% Dating Sim where the dataing sim part of the game substitues the normal grinding you would have to do.
I have also recently played/tried a few PSP SRPGs.
Jeanne D'arc - which I enjoyed.
Disgaea: Afternoon of Darkness - which I didn't like and gave up after an hour
FF Tactics - which I hated after 10 minutes and gave up
It does not seem like anyone has any feedback on Agarest... would be good to know if this is worth a shot but a quick look at Metacritic and I suspect it won't be.