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You can have one rtabmap per slave (i.e., each robot is a ROS slave), and a ROS master running on a remote computer. You would have to put rtabmap nodes in different namespaces (e.g., /robotA/rtabmap, /robotB/rtabmap, etc) to make sure that topics from multiple robots are not published on the same topic name (e.g., /robotA/mapData, /robotB/mapData, etc...). You would also need to set tf_prefix for the robot state publisher (or TF static transforms) and also for rtabmap nodes to have a different TF tree for each robot.
If you prefer having multiple ROS masters, you may want to take a look at the multimaster_fkie package.
cheers
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