ADMA represents an Autonomous Decentralized Management Architecture designed to provide Mobile Ad Hoc Networks (MANETs) with autonomic principles. It allows the network to configure and reconfigure itself under environment changes without any human intervention. Our solution operates in a peer-to-peer manner and does not require any centralized entity to perform network management functions. Each mobile node implementing ADMA components is able to take the appropriate decision based on predefined high level policies and collected monitoring information. We present in this paper the basic components of an ADMA node. Then, we provide a simple self-configuring case study of our design considering Voice over IP (VoIP) as a test application. Simulation results show an improvement of the VoIP delay and loss rate while applying predefined policies.