The non-intrusive mini-map is always visible in the upper-right portion of the screen, for the entirety of the battle which will give you valuable real-time information such as enemy and allied positions, objectives, fort status, and many more. Enemies appear as red or yellow dots while allies or friendly units appear as blue or green. Blue allies can be controlled while yellow allies are uncontrollable.
Places where you need to go are marked with X while enemies you should defeat will be marked as O. You can also pause the battle and open the main map for a larger view. Take time to review the Battle Log to check the previous notifications in the map as they appeared if you want to make sure you didn't missed a sub-mission or the impending defeat of an ally. Make it a habit to check the map often for valuable information since the intel it provides will help you complete objectives as they appear.