Some people report having this happen, usually as an etheric (not astral) projection. I have seen the shadow of my mother (fully awake) when she was alive, but I didn't recognize her until she confessed having visited me. What I can tell you is that at that time, I had just bought this house, and she was at home wondering what my new house looked like, and found herself here. She got a look and then was back, and at that moment I called her to tell her about this 'weird thing' that had happened. Her intention was clear, but she didn't do it on purpose, so I don't know how focused intent worked in this case.
That's all I got.