Forward-looking economic agents operating in a finite continuous geographic area choose how much to innovate at each point in time and space. Based on this assumption, the present study incorporates spatial interactions in endogenous growth models, addressing the criticism that such models are inconsistent with empirical evidence. More specifically, we introduce spatial production spillovers, knowledge diffusion across space, and the capability for spatial heterogeneity into a standard expanding variety growth model based on R&D. We study the properties of equilibrium and optimal allocations and argue that the characteristics are different from those of the non-spatial model, which alter the appropriate policy measures. Finally, we provide numerical examples demonstrating the importance of spatial dependent policy measures in achieving a balanced regional development.