Thinking about the motion around the staircase... one thing to point out - if you're looking for the best coverage, you might want to see the staircase; if you're designing a system around pet-immune sensors, staircases will do you in! Even a 100lb pet immune sensor will trigger from a 15lb cat that makes it up too high vertically in the sensor's view.
No pets here (unless you count the kids

It might not look the best (since its centered in the beam that goes across the great room) but it sure works!