The closest you'd probably get with things already made is Omegas' Roguelike Battle System (aka O.R.B.S.) Not quite as aesthetic as CT, but it does accomplish the same basic idea and has all battles occur on the map. The On-map battle systems are not as clear as the battle scene scripts... I tried out most of them, and O.R.B.S was the only one I tried that allowed party members at all. I personally liked PRABS better, despite only having support for one active party member.
I'm asking for a battle scene modification that will allow for a more tactical arrangement for battle scenes, but... well it's still a battle scene, and not on map...