This paper briefly reviews the problems and challenges faced by training communities in providing a realistic opponent for tactical training in a battlefield environment. A functional model for simulating semiautomated forces (SAFOR) is defined. Behavioral modeling using a motor schema approach is introduced for adversarial planning and navigation. A mathematical formulation using ellipsoid model is described. This is followed by a scenario developed for battlefield planning to reflect the applicability of motor schema instantiations for controlling semiautonomous agents.