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Data aggregation is generally considered an important method used to reduce traffic and increase lifetime of wireless sensor networks in both two- and three-dimensional space. It is challenging to develop efficient data aggregation solution for the wireless sensor networks since quality-of-service, such as end-to-end delay, is considered as a severe criterion required in many scenarios. In this paper we focus on the minimum-latency data aggregation problem, which was proved to be NP-hard, and proposed a new efficient scheme including both the aggregation tree construction process and the scheduling algorithm to determine the transmission time for all nodes in the network with collision avoided. We have proved that the upper bound for data aggregation with our proposed scheme is bounded by (15R + Λ - 15) for wireless sensor networks in two-dimensional space. We have also simulated the case in three-dimensional wireless sensor networks. Extensive simulation results have shown that the proposed scheme has better performance compared with related works.