You can try to do it like this:
First start nodes with gdbserver on remote hosts. It is even possible to start it without a program to debug, if you start it with --multi flag. When server is in multi mode, you can control it from your local session, I mean that you can make it start a program you want to debug. Then, start multiple inferiors in your gdb session
gdb> add-inferior -copies <number of servers>
switch them to a remote target and connect them to remote servers
gdb> inferior 1
gdb> target extended-remote host:port // use extended to switch gdbserver to multi mode
// start a program if gdbserver was started in multi mode
gdb> inferior 2
...
Now you have them all attached to one gdb session. The problem is that, AFAIK, it is not much better than to start multiple gdb's from different console tabs. On the other hand you can write some scripts or auto tests this way. See the gdb tutorial: server and inferiors.