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Most existing sensor planning algorithms find it difficult to tackle the discrepancy between a PTZ cameraÂ¿s limited instant field of view (FOV) and panoramic achievable FOV. In this paper, we introduce the probability of camera overload to resolve this discrepancy and present a sensor planning algorithm for PTZ cameras under the same framework as static cameras. The resulting camera placement achieves the optimal balance between coverage and handoff success rate. Furthermore, our algorithm is able to incorporate the targetÂ¿s dynamics into sensor planning. As a result, the systemÂ¿s handoff success rate can be maintained in environments with various target densities. Experimental results and comparisons with a reference algorithm proposed by Erdem and Sclaroff verify the effectiveness of our algorithm via a significantly improved handoff success rate.