RTS cover and movement system

Hi, im attempting to make an RTS much like men of war. Ive got a fully functioning camera and units i can single and multiple select them. I can also move them using a simple move to command using get random point in navigable radius.
now what im trying to achive is this UE4 RTS progress - YouTube (specifically the cover, i dont want anyhing fancy i just want the units to move into cover like they do in the video)

can anyone explain how this could be achived? i cant get my head around it