Photovoltaic energy systems in urban situations need to achieve both high electricity production and high capacity in restricted installation areas. To maximize power output, solar-tracking systems tilt solar arrays to track the sun’s position, and typically flat modules are used to maximize the cross-sectional area. Such tracking systems are complex and expensive, and flat modules cannot utilize omnidirectional incident light. For solar systems in urban environments, we have developed two-dimensional (2D) or three-dimensional (3D) tessellated solar-cell modules that use shape transformation, and combine solar tracking and an arch structure for use in restricted areas. The modules can use scattered and omnidirectional incident light. Simply by attaching shape-memory alloy strips to the surface of the solar panels, the shape of the array can be transformed in response to heat from sunlight. Compared to a perfect solar-tracking system, our simulation results indicate that the modules present a large cross-sectional area perpendicular to the direction of sunlight and provide superior tracking performance, resulting in a 60% increase in electricity production over the course of 1 day. In addition, by using different designs for the tessellation units, dome shaped or other 3D structures are possible, for specific applications and to meet aesthetic requirements.