A system including a plurality of subsystems having a controller coupled with a sensor, an actuator, and a processor; and a resource allocation processor coupled with each of the plurality of subsystems, the resource allocation processor comprising a memory storing instructions which cause the resource allocation processor to determine a drilling system model, receive the measurement from each of the plurality of subsystems, generate a subsystem interaction model based at least in part on the dynamic subsystem model of each of the plurality of subsystems, run a risk evaluation based at least in part on the subsystem interaction module and a risk threshold, generate a resource allocation model, and transmit the resource allocation model to each of the plurality of subsystems; and wherein the subsystem controller in each of the plurality of subsystems activates the actuator to adjust a subsystem parameter to meet the resource allocation model.