The USB port can be a bottleneck on the Pi, but as long as the resolution and
frame rate isn't too high (15 FPS 640x480 sounds fine), and you stick to
something that isn't cpu intensive like mjpeg encoding you should be able to
pull it off.
I'd probably avoid muxing anything on the Pi side, it's generally kinda CPU
power limited as it is.
I suppose you could try muxing all three webcams together into a split
screen layout, and then compressing that once on the pi via the hardware
encoder, but then you lose the ability to individually save the streams on
the receiving end, and I don't think it will help you performance wise.
I'd make sure you are running the newer Raspbian Stretch releases, it has
gstreamer 1.10 in the repositories (sudo apt-get install gstreamer1.0),
otherwise you are stuck with the older 1.4 on Jessie.
I'd probably use UDP streaming for minimal latency and overhead, using a
pipeline like I showed you above. Run it three times on the Pi, once for
each v4l2src. On the receive side you can use three pipelines to save three
files, or use one pipeline with a videomixer to do a split screen display
(tee it and also save the files).
This cheat sheet has examples of using a videomixer:
http://wiki.oz9aec.net/index.php/Gstreamer_cheat_sheet--
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