This work addresses the problem of identifying feasible optimal formations for a group of non-holonomic mobile robots manipulating a payload with 6-Degree Of Freedom(DoF) movement through narrow spaces. We solve this problem in two stages. Initially we find a feasible obstacle-free trajectory for the system. Subsequently, we arrive at optimal formation that efficiently moves through narrow spaces by simultaneously minimizing a kinetic energy metric and a geometric stability criterion. The best robot motion plans are devised through multi-objective optimization. We demonstrate that stable and energy efficient formations are achievable, independent of system dynamics for a multi-robot, quasi-static, payload transport system moving through narrow spaces. Click here for an extended abstract.