Apart from the already known Roger there's (from left to right)...

Cuca

Skilled mercenary who loves woman and drinking

Tekeli
A 10 year old boy who controls beast and is the last survivor of the "Forest People".

Yuriel
Captain of the scouts patrol who is always calm and executes his plans with a smile.

Jeremiah
A lone woman in the scouts patrol, also known as the "Walking Land Mine" who has an impulsive nature.

Source:
• V Jump Scans from Neogaf

Related Links:
• Seiken Densetsu Series Official Site
• Seiken Densetsu: Heroes of Mana, Trailer Available
• Seiken Densetsu: Heroes of Mana, Story and Gameplay Details
• Seiken Densetsu: Heroes of Mana, More Real Time Battle Fun!