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Yes, you can install RSD on Agent Handler. Best option to load on DHCP servers.
I agree with ansarias, the best placement for maximum coverage is to deploy an RSD Sensor to your DHCP servers and enable DHCP mode, but ideally you should have and RSD sensor in every Subnet/network.
When the sensor does not operate in DHCP mode it operates in Broadcast mode, and will only detect broadcast message in the same collision domain, which by default would not detect devices outside of its own network since broadcast messages, by default, do not get flooded outside their on network.
RSD Sensors use different port number to that of an AH and use different processes. As far as I could determine their is not a technical limitation which would prevent you from running an RSD Sensor and an Agent Handler on the same server providing the Mimum SYstem requiresment for both products could be maintained.
Certified McAfee Product Specialist - ePO