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In the scenario 'a daring rescue' a battle company needs to retrieve a hero that was lost in combat, that company is by default the attacker, while the company who has captured the hero is the defender.

Now the captured hero still belongs to the attacking company and can move its full move. The defending company cant attack it unless: the defending company is broken, the prisoner charges a defending company mini or the prisoner has been freed.

Doesn't this mean that the hero can just walk of the map and the defending company cant do anything about it?

So how is the defending company supposed to do anything?

I guess you can imprison him using the control zones of your models so he can't move through?