Can I use a pull-based model for the nodes?

Hi, I have a multi-tiered system where the end-stations are consumer devices (something like roomba), running ubuntu, in consumers’ home (with access to the next via wifi).
I would like to use ansible to implement auto-update, but the end-stations don’t have a static IP and are not always connected to the net, so I want to implement a pull-based model where end-stations polls the ansible server periodically to see if it needs to perform operations.
I think it is possible in chef. Can ansible support this model?

Thanks.

Check out ansible-pull
https://docs.ansible.com/ansible/playbooks_intro.html#ansible-pull