Lattice wireless sensor network (WSN) resulting from deterministic deployment by using Autonomous Unmanned Ground Vehicle (UGV) can provide optimal network QoS. It also leads insight to random WSN design by providing upper bounds for performance evaluation. In this paper, we examine the features of lattice WSNs from different perspectives by investigating square, triangular, and hexagonal pattern-based WSNs. First, we examine their node deployment efficiency in terms of the number of required sensors for achieving application-specific QoS. Then, we compare their energy efficiency by exploring the ways on grouping adjacent sensors into clusters through <i>k</i>-clustering and balanced clustering techniques. At last, we introduce a collision-free TDMA-based node scheduling scheme for in-cluster data aggregation in each lattice WSN. This work can be regarded as a guideline to direct the design and deployment of lattice WSNs.