Advancements in multi-robot systems represent a significant frontier in robotics, with growing applications in domains such as agriculture, search and rescue, industry, domestic environments, and transportation. A key challenge in these settings is enabling multiple robots to operate collaboratively, safely, and efficiently while navigating complex, dynamic environments. This thesis focuses on the development of a multi-robot collaborative SLAM (Simultaneous Localization and Mapping) system designed to provide robust and accurate localization while enabling the coordinated and efficient exploration and mapping of unknown environments. By employing a centralized framework, the system integrates sensor data and robot dynamics to maintain global consistency across the multi-robot network.