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Applications involved with multimedia streaming are blooming with the development of Internet and wireless networks. In this paper, we address the problem of how to jointly leverage power control and rate allocation to achieve high-performance video streaming with strict delay and energy over wireless ad-hoc networks. We focus on media-aware rate allocation and power control with goal of minimizing the total video distortion, power consumption and network congestion of multiple users over multiple wireless ad-hoc links. We formulate this system as a controlled stochastic Markov decision process, whose optimal control policy instructs the system how to allocate rate and control power according to the current channel state. And the solution to this dynamic programming problem, which turns out to be a randomized optimal control policy, can be solved using linear programming with much lower complexity. Simulation results show that the proposed scheme provide significant performance gain in terms of video quality, power consumption and network congestion.