New Objective?

[Tanker]

During a battle I often get notified of a "New Objective".  This is accompanied by a flashing yellow circle on the map.  Often this shows a spot in an area "behind the lines", where I've already passed over.
Does this notice mean that infiltrating enemy have been detected in those positions?  Are points deducted from the victory conditions for not sending forces to those points?  What generates these new objectives?

[Krabb]

These are your AI allies changing what they are doing.

[Tanker]

Thanks.