Concepts and technologies are disclosed herein for an antenna placement determination device. An antenna placement determination device can include a signal sensor located at a first end of an extendible arm, a platform located proximate to a second end of the extendible arm, a drive system connected to the platform, and an actuator connected to the extendible arm. The actuator can be configured to extend and collapse the extendible arm. The signal sensor can be connected to the extendible arm by a joint, and a sensor actuator or sensor motor can rotate the signal sensor about the joint. The drive system can include a drive motor and a drive mechanism that is configured to transport the antenna placement determination device.