Yes it is possible, and there are many options.
Manual setup: Time consuming, requires troubleshooting, you learn a lot: The [installation tutorials](https://docs.openstack.org/install-guide/). This gives you a two-node setup, but you can easily repeate the instruction for setting up compute nodes.
[Packstack](https://www.rdoproject.org/install/packstack/): Fairly automatic; you can set up a cloud on a single server in an hour or so. After that, add compute nodes. It only works on RHEL and RHEL clones.
[DevStack](https://docs.openstack.org/devstack/latest/) has the purpose of creating small clouds for testing OpenStack software. Like Packstack, quick to set up, but runs on Ubuntu and OpenSUSE as well. It does support multi-node installations; I don't know how hard it is to configure them.
These three solutions work on comparatively small physical or virtual machines; 6GB memory should be sufficient, 50GB disk space, any type of modern CPU. Slightly more performant servers are required to set up OpenStack in LXC containers using OpenStack-Ansible, and in Docker container with Kolla and Kolla-Ansible.
There are several other deployment solutions.
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