"So what exactly ARE the 200 lbs. of equipment an "exoskeleton" soldier will be carrying?"
Whatever the mission requires. It may simply be a large backpack to allow the soldiers to operate in terrain independent of support vehicles for an extended period of time. This would reduce reliance on supply by air or ground, especially in terrain where vehicles cannot operate easily or where an airdrop or helicopter landing would widely advertise the location of the troops.
"With drones now equipment with mini-missles, why would our foot soldiers be required to carry heavy missile launchers and missiles?"
Drones are only useful weapons platforms in a subset of tactical situations: deploying missiles against a target in an open space. A drone, at whatever altitude it flies is likely to be detected more easily than troops deployed on the ground. There can also be issues with the remote pilot of a drone accurately identifying the target; drones as autonomous weapon systems are some way off and will have additional issues with target recognition.
In many situations a shoulder launched or frame launched missile is an ideal way of enhancing infantry firepower against an aircraft, armored vehicle or fortified structure.
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