Some battlefields contain Foraging Points, locations at which a group leader can forage for food to restore the HP of all members in his group.
In-Game Description

Foraging is a gameplay element in Final Fantasy XII: Revenant Wings. On battlefields, various edible icons will be strewn about in random places. These could be mushrooms, fruit, or other consumables. When the stylus is moved over one of these icons, the cursor will change to a flat palm.
A Group Leader may forage from these icons, restoring a small amount of HP to themselves and their whole Group of Yarhi. A Foraging Icon may be harvested in this way four times before disappearing.
List of Foraging Icons
Brush Grapes
Ripe only during the Dry, these grapes burst on the tongue.
Location: Giza Plains
Cockatrice Eggs
Richly flavored eggs of the proud avian livestock.
Location: The Ymir Qul Underground during Mission 64: Comfort Food.
Dalmascan Dewberry
This sweet fruit is a precious source of water in the desert.
Location: Dalmasca Estersand
Damson
Sweet fruit favored by the aegyl.
Location: The Bosco Pampa
Glow Morel
This softly glowing mushroom gives off a fragrant scent.
Location: Lesrekta, Isle of Illusions
Goblinberries
Wild berry popular with the island's indigent goblins.
Location: The Kisne Rise
Gucuma Manna
Wind's bounty given form. It has a subtly sour flavor.
Location: Fane of Gucuma Qul
Knight Onions
Resilient member of the onion family.
Location: The Feol Warren
Maiden's Cap
Edible mushroom whose rough appearance belies its flavor.
Location: Tswarra, Isle of the Lost
Muruc Manna
Fire's bounty given form. its flavor dances on the tongue.
Location: Underfane of Huin Qul
Ochrebud
An edible flower bud with a peculiar bittersweet taste.
Location: Oghu, the Veiled Isle, Ymir Qul Range
Prickle Plum
This fruit's thorny outer skin conceals succulent fruit.
Location: Gugoza Falls during Mission 22: A Gift for Penelo.
Roeweed
Rugged plant that grows along the coast and tastes of roe.
Location: Isshu, Jewel of the Skysea, Cebe, Isle of Treasures
Sea Currant
Chewy fruit best eaten raw.
Location: Isshu, Jewel of the Skysea during Mission 54: A Savory Task.
Snowgrass
Hardy plant that thrives in the cold.
Location: The Paramina Rift
Starfruit
Savory fruit used in some of Penelo's best dishes
Location: Giza Plains during Mission 73: Just for Penelo.
Tehp Manna
Earth's bounty given form. It tastes vaguely of salt.
Location: Fane of Tehp Qul