Cliff group:
Emerson
Dom (Goes back for Karu)
Izuru
Kal (Goes back for Karu)
Autumn
Penelope 
Ronan (Goes back for Karu)
Karu (became a distraction and got recaptured)
[color=steelblue]Possibly more, I didn't finish going through the whole thing[/color]
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I don't think there was anyone in the other group. Or at least I didn't find anyone so far.
But there are three groups. One that is going toward a city, one rescuing others, and one running elsewhere.