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In this paper, jointly combining advantages of cooperative communication at the physical layer and distributed routing schemes at the network layer, we propose a novel lifetime maximizing cooperative routing (LMCR) algorithm with decode-and-forward cooperative fashion to prolong the lifetime of wireless Ad-hoc networks. Optimal power allocation mechanism is analyzed for both cooperative and non-cooperative links with the constraint of average SER. Subsequently, link costs representing the weighted total consumed power are constructed to avoid the overuse of certain nodes with little energy. In addition, both the transmission energy and circuit energy are considered in energy consumption model. Finally, simulation results are provided to verify the efficiency of the proposed routing scheme.