Retreat?

[Itza]

Is there any way to retreat from a battle? In particular I use FOG: Medieval, and there are often two rounds of combat. One battle where my full force fights the enemy, and if I lose, a second battle is started with the remnants of my army which retreated during the first battle.

Is there any way, either through Kingdoms or Medieval to retreat from a battle? If not, this is a HUGE wish from me. It is so frustrating being force to fight battles you know you are going to lose, and I wish I could at least retreat at the cost of some units being lost and authority loss or something similar.

Without the ability to retreat, armies become almost like missiles you launch towards the enemy. It makes it harder to have units you care about.