Complex sentence: It was founded in 1941 by Robert Shaw, who was later to found the professional Robert Shaw Chorale; it continues to have a large role in the City's concert life, giving several performances annually in Carnegie Hall and other major venues.
Split into simpler sentences: It was founded in 1941 by Robert Shaw, who was later to found the professional Robert Shaw Chorale. The Collegiate Chorale continues to give several performances annually in Carnegie Hall and other major venues.