Described is a Distributed Resource Allocation System (DRAS) for sensor control and planning. The DRAS comprises an information framework module that is configured to specify performance goals, assess current performance state, and includes sensor models to achieve the performance goals. The DRAS is configured to further allocate the sensors to achieve the performance goals. Once allocated, the DRAS then reassesses the current performance state and continues reallocating the sensors until the current performance state is most similar to the performance goals.