  This paper presents a novel planning method that achieves navigation of
multi-robot formations in cluttered environments, while maintaining the
formation throughout the robots motion. The method utilises a decentralised
approach to find feasible formation parameters that guarantees formation
constraints for rigid formations. The method proves to be computationally
efficient, making it relevant for reactive planning and control of multi-robot
systems formation. The method has been tested in a simulation environment to
prove feasibility and run-time efficiency.
