Use your skirmishers as a screening force. They'll take heavy casualities, but in a close battle keep them off fire at will so that they retain a volley of javelins, then if you need to pull your much more expensive heavy infantry/phalangites out of the line of battle you can volley the enemy in the back, through click them, and when it's mixed up sacrifice the skirmisher unit. The most important thing is that you have to either have planned to do a retreat from the beginning, or it can't be at the point that the units are about to rout. Ie: It has to be before the definitive point of the battle. After that the likli-hood is that you'll take such high casualties running away that your units will rout, and then suffer even higher casualties.
Also if you're planning on using this tactic alot, for whatever reason, you should seriously evaluate the weapon types of your enemy to decide what kind of skirmisher you need. Obviously if you're fighting the Getai it would be better to have a lower armored unit for this tactic for instance.
Edit:
After re-reading your original post it seems like you mean you want to retreat and then attack again using the same unit during a battle, a bit like cavalry is often used. Is this correct? My first question in response to that would be...why? Some infantry units get a charge bonus, but it's not usually enough to justify the casualties you take running away. Unfortunately I've yet to see a unit in the RTW engine make any sort of fighting withdrawal, ie move backwards while maintaining a line and fighting. It seems that you can move, or you can fight, but you can't really do both as such. In the absence of being able to fight while moving backwards you have to turn and show your tail to the enemy, usually getting it stuck by something pointy. It would be incredibly useful to be able to suck in infantry or cavalry units into an open-ended box maneuver if you could do that, but you can accomplish a similar thing using this formation:
^^ ---^^
^^^
where ^ are heavy infantry and - are light infantry or skirmishers. Skirmishers work really well because of the natural skirmish mode, just leave it off until the enemy is close enough. But light infantry can do the same thing by running them behind your heavy infantry, or you can use phalangites or other heavy spearmen as your center and force run your light infantry through the attackers and then turn around and you have the attacking force in a box. Compliment that with a cavalry charge and you're talking insta-rout.
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