Circles
Another addition to Valkyria Revolution’s city exploration comes in the way of Circles. These group certain party members and important characters together, and function somewhat like Social Links from the Persona series. Sometimes after returning to Elsinore you can check the Circles option in your main menu. Character will hang out at certain spots in the city when in a circle, and interacting with them will allow you to view a short scene with some character development or humorous conversation.
Of course, seeing story isn’t the only benefit to circles, as you’ll also be granted a reward. Each scene grants you a new tactic for your characters, that you can use to customize the way your party functions in battle. Because of this, it’s definitely in your best interest to be on the lookout for circles meeting up.