The Mobile IoT domain has been significantly expanded with the proliferation of drones and unmanned robotic devices. In this new landscape, the communication between the resource-constrained device and the fixed infrastructure is similarly expanded to include new messages of varying importance, control, and monitoring. To efficiently and effectively control the exchange of such messages subject to the stochastic nature of the underlying wireless network, we design a time-optimized, dynamic, and distributed decision-making mechanism based on the principles of the Optimal Stopping and Change Detection theories. The findings from our experimentation platform are promising and solidly supportive to a vast spectrum of real-time and latency-sensitive applications with quality-of-service requirements in mobile IoT environments.