ADB is installed in the computer, and usb debugging is enabled on devices. Also I have connected one device over wifi successfully. How to connect more devices without having to
A slight change in the Abdul Wasae answer, based on my experience .
devices A (IP: 192.168.1.32)
devices B (IP: 192.168.1.33)
Connect device A with a USB cable to the computer (but not B)
adb -d tcpip 5555
adb connect 192.168.1.32
Disconnect device A, and connect device B with a USB cable to the computer,This time you need to change the port !!
adb -d tcpip 5554
Here you need to specify port as well
adb connect 192.168.1.33:5554
I also have documented this here in more detail Connecting multiple devices over wifi using adb