diff --git a/code/__DEFINES/ai.dm b/code/__DEFINES/ai.dm
index fcb595cdbd3..622cc84134e 100644
--- a/code/__DEFINES/ai.dm
+++ b/code/__DEFINES/ai.dm
@@ -22,6 +22,8 @@
 #define AI_BEHAVIOR_KEEP_MOVE_TARGET_ON_FINISH (1<<2)
 ///Does finishing this task make the AI stop moving towards the target?
 #define AI_BEHAVIOR_KEEP_MOVING_TOWARDS_TARGET_ON_FINISH (1<<3)
+///Does this behavior NOT block planning?
+#define AI_BEHAVIOR_CAN_PLAN_DURING_EXECUTION (1<<4)
 
 ///AI flags
 #define STOP_MOVING_WHEN_PULLED (1<<0)
diff --git a/code/controllers/subsystem/ai_controllers.dm b/code/controllers/subsystem/ai_controllers.dm
index 82c22869e32..3d8d2653149 100644
--- a/code/controllers/subsystem/ai_controllers.dm
+++ b/code/controllers/subsystem/ai_controllers.dm
@@ -27,7 +27,8 @@ SUBSYSTEM_DEF(ai_controllers)
 		if(!COOLDOWN_FINISHED(ai_controller, failed_planning_cooldown))
 			continue
 
-		if(!LAZYLEN(ai_controller.current_behaviors))
-			ai_controller.SelectBehaviors(wait * 0.1)
-			if(!LAZYLEN(ai_controller.current_behaviors)) //Still no plan
-				COOLDOWN_START(ai_controller, failed_planning_cooldown, AI_FAILED_PLANNING_COOLDOWN)
+		if(!ai_controller.able_to_plan())
+			continue
+		ai_controller.SelectBehaviors(wait * 0.1)
+		if(!LAZYLEN(ai_controller.current_behaviors)) //Still no plan
+			COOLDOWN_START(ai_controller, failed_planning_cooldown, AI_FAILED_PLANNING_COOLDOWN)
diff --git a/code/datums/ai/_ai_controller.dm b/code/datums/ai/_ai_controller.dm
index 2c1d733baf8..25da255284a 100644
--- a/code/datums/ai/_ai_controller.dm
+++ b/code/datums/ai/_ai_controller.dm
@@ -9,6 +9,8 @@ multiple modular subtrees with behaviors
 	var/atom/pawn
 	///Bitfield of traits for this AI to handle extra behavior
 	var/ai_traits
+	///Current actions planned to be performed by the AI in the upcoming plan
+	var/list/planned_behaviors
 	///Current actions being performed by the AI.
 	var/list/current_behaviors
 	///Current actions and their respective last time ran as an assoc list.
@@ -190,6 +192,14 @@ multiple modular subtrees with behaviors
 			ProcessBehavior(action_delta_time, current_behavior)
 			return
 
+///Determines whether the AI can currently make a new plan
+/datum/ai_controller/proc/able_to_plan()
+	. = TRUE
+	for(var/datum/ai_behavior/current_behavior as anything in current_behaviors)
+		if(!(current_behavior.behavior_flags & AI_BEHAVIOR_CAN_PLAN_DURING_EXECUTION)) //We have a behavior that blocks planning
+			. = FALSE
+			break
+
 ///This is where you decide what actions are taken by the AI.
 /datum/ai_controller/proc/SelectBehaviors(delta_time)
 	SHOULD_NOT_SLEEP(TRUE) //Fuck you don't sleep in procs like this.
@@ -197,12 +207,22 @@ multiple modular subtrees with behaviors
 		return FALSE
 
 	LAZYINITLIST(current_behaviors)
+	LAZYCLEARLIST(planned_behaviors)
 
 	if(LAZYLEN(planning_subtrees))
 		for(var/datum/ai_planning_subtree/subtree as anything in planning_subtrees)
 			if(subtree.SelectBehaviors(src, delta_time) == SUBTREE_RETURN_FINISH_PLANNING)
 				break
 
+	for(var/datum/ai_behavior/current_behavior as anything in current_behaviors)
+		if(LAZYACCESS(planned_behaviors, current_behavior))
+			continue
+		var/list/arguments = list(src, FALSE)
+		var/list/stored_arguments = behavior_args[type]
+		if(stored_arguments)
+			arguments += stored_arguments
+		current_behavior.finish_action(arglist(arguments))
+
 ///This proc handles changing ai status, and starts/stops processing if required.
 /datum/ai_controller/proc/set_ai_status(new_ai_status)
 	if(ai_status == new_ai_status)
@@ -231,6 +251,7 @@ multiple modular subtrees with behaviors
 	if(!behavior.setup(arglist(arguments)))
 		return
 	LAZYADD(current_behaviors, behavior)
+	LAZYADDASSOC(planned_behaviors, behavior, TRUE)
 	arguments.Cut(1, 2)
 	if(length(arguments))
 		behavior_args[behavior_type] = arguments