It is well known that localisation is a fundamental issue for many wireless networkapplications. Without the need of additional ranging devices, the range-free localisationtechnology is a cost-effective solution for low-cost indoor and outdoor wireless sensor networks.However, we noted that most existing algorithms were only studied using tools like MATLABneglecting possible problems in a real wireless network context such as frame collision and nodesynchronisation. Thus, we propose an Adaptive Range-free Localisation Protocol (ALP) based onIEEE 802.15.4 standard, which can evaluate localisation algorithms. Using our localisationprotocol, we investigate and compare the performance of our new approach to some existingrange-free algorithms in terms of localisation accuracy, mobility, synchronisation and overhead.Our results show that our Mid-perpendicular, Checkout DV-hop and Selective 3-Anchor DV-hopalgorithms support robust and dynamic localisation in the context of our adaptive localisation protocol