I'm interested in behaviour trees that aren't iterated every game tick, but every so often. (Edit: the tree could specify how many frames within the main game loop to wait before running its tick function again).

Every theoretical implementation I have seen of behaviour trees talks of the tree search being carried out every game update - which seems necessary, because a leaf node (eg a behaviour, like 'return to base') needs to be constantly checked to see if is still running, failed or completed.

Can anyone suggest how I might start implementing a tree that isnt run every tick, or point me in the direction of good material specific to this case (I am struggling to find anything)?

My thoughts so far:

• action leaf nodes (when they start) must only push some kind of action object onto a list for an entity, rather than directly calling any code that makes the entity do something. The list of actions for the entity would be run every frame (update any that need to run, pop any that have completed from the list).
• the return state from a given action must be fed back into the tree, so that when we run the tree iteration again (and reach the same action leaf node - so the tree has so far determined that we ought to still be trying this action) - that the action has completed, or is still running etc.
• If my actual action code is running from an action list on an entity, then I possibly need to cancel previously running actions in the list - i am thinking that I can just delete the entire stack of queued up actions. I've seen the idea of ActionLists which block lower priority actions when a higher priority one is added, but this seems like very close logic to behaviour trees, and I dont want to be duplicating behaviour.

This leaves me with some questions

1) How would I feed the action return state back into the tree? Its obvious I need to store some information relating to 'currently executing actions' on the entity, and check that in the tree tick, but I can't imagine how.

2) Does having a seperate behaviour tree (for deciding behaviour) and action list (for carrying out actual queued up actions) sound like a reasonable approach?

3) Is the approach of updating a behaviour tree irregularly actually used by anyone? It seems like a nice idea for budgeting ai search time when you have a lot of ai entities to process.

(Edit) - I am also thinking about storing a single instance of a given behaviour tree in memory, and providing it by reference to any entity that uses it. So any information about what action was last selected for execution on an entity must be stored in a data context relative to the entity (which the tree can check). (I am probably answering my own questions as i go!)

I hope I have expressed my questions adequately! Thanks in advance for any help :)