We present S-XTC, a topology control algorithm that uses the received signal strength indicator (RSSI) of the radio on wireless sensor nodes. The algorithm is based on XTC, a practical topology control algorithm that constructs a relative neighborhood graph. In contrast to the pure XTC our extensions add to the robustness and resilience against fluctuation in the RSSI values. While guaranteeing connectivity and a bounded node degree, network topologies are able to adapt to gradual changes in the network and it's environment. In this paper, we discuss the shortcomings of the previous algorithm and evaluate S-XTC by analytical proofs and simulation results. Furthermore, we have successfully implemented and tested S-XTC on the BTnode platform of which we discuss a case study and performance evaluation