We compute the cosmic relic (dark matter) density of the lightest supersymmetric particle (LSP) in the framework of minimal $N=1$ Supergravity models with radiative breaking of the electroweak gauge symmetry. To this end, we re--calculate the cross sections for all possible annihilation processes for a general, mixed neutralino state with arbitrary mass. Our analysis includes effects of all Yukawa couplings of third generation fermions, and allows for a fairly general set of soft SUSY breaking parameters at the Planck scale. We find that a cosmologically interesting relic density emerges naturally over wide regions of parameter space. However, the requirement that relic neutralinos do not overclose the universe does not lead to upper bounds on SUSY breaking parameters that are strictly valid for all combinations of parameters and of interest for existing or planned collider experiments; in particular, gluino and squark masses in excess of 5 TeV cannot strictly be excluded. On the other hand, in the ``generic case of a gaugino--like neutralino whose annihilation cross sections are not ``accidentally enhanced by a nearby Higgs or $Z$ pole, all sparticles should lie within the reach of the proposed $pp$ and $e^+e^-$ supercolliders. We also find that requiring the LSP to provide all dark matter predicted by inflationary models imposes a strict lower bound of 40 GeV on the common scalar mass $m$ at the Planck scale, while the lightest sleptons would have to be heavier
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