I am looking for basic difference between Orchestrator and Agents in ITPAM, Secondly where Orchestrator/Agents should be installed.
You can get details from our documentation:
Glossary Service Pack 04.2.02
An Orchestrator is the engine component of CA Process Automation that drives the execution of processes. You can add multiple Orchestrators to any environment in the Domain. Orchestrators can be clustered for scalability and high availability.
An agent is a CA Process Automation component that administrators install on hosts that are targeted by operators in a process. Administrators install agents on hosts in the design environment and on hosts in the production environment. Operators typically target a logical entity called a touchpoint. A touchpoint is a mapping of an environment with an agent. To ease the transition of a process from one environment to another, the same touchpoint names are used to map different agents in the two environments. To target a remote host, you must create an SSH connection between the agent host and the remote host.
Basically, the Orchestrator is the main engine of PAM, it handles all of the normal administrative work as well as runs process instances. The agents allow you to run a particular action at a remote location. For example if you want to read a file on another server you may install an agent on that server to facilitate that read.
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