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
Yes there is a way to do so without having to type the serial number.
Say you have 2 devices A (IP: 192.168.1.32) and B (IP: 192.168.1.33) that you want to connect to ADB over wifi:
adb -d tcpip 5555
adb connect 192.168.1.32
adb -d tcpip 5555
adb connect 192.168.1.33