The exploration of underground spaces utilizing heterogeneous robots has garnered significant attention, yet the formation control faces great challenges. This work developed the trajectory and formation reconfiguration control scheme for ground and aerial robots operating within the underground tunnel environment. To ensure the safe distances to the ground obstacles and the ceiling, both the trajectory and the formation reconfiguration mechanisms are established for the ground and the aerial robots. Those mechanisms are actuated by the repulsive forces generated artificial potential fields. Then, the trajectory and formation reconfiguration control laws are designed respectively for the ground leading and the multiple aerial robots. Finally, the effectiveness of the developed control scheme is demonstrated through both the theoretical analysis and the numerical simulation.