Android Debug Bridge (adb)

Connect to a Device over Wi-Fi

Start a terminal emulator app on the device.

$ su

# setprop service.adb.tcp.port 5555

# start adbd

Find the IP address of the Android device. Usually, it can be found at Settings > About device > Status > IP address. In my case, IP of the device was 192.168.1.3.

Connect the host computer to the Android device:

$ adb connect 192.168.1.3
* daemon not running; starting now at tcp:5037
* daemon started successfully
connected to 192.168.1.3:5555

To check that the device is listed in the list of attached devices:

$ adb devices
List of devices attached
192.168.1.3:5555 device

Now, both Android device and computer are ready.

Some steps are needed after the completion of all desired changes on the device.

On the host computer:

$ adb disconnect 192.168.1.3

$ adb kill-server

On the device:

# stop adbd

(Optionally) to go back to USB listening:

# setprop service.adb.tcp.port -1

Send commands to a specific device

$ adb devices
List of devices attached
emulator-5554 device
emulator-5555 device

To start shell on emulator-5555:

$ adb -s emulator-5555 shell

Configure VitualBox for Listening ADB Connections

Settings > Network > Advanced > Port Forwarding:

Protocol: TCP
Host IP: (empty)
Host Port: 5555
Guest IP: (empty)
Guest Port: 5555

References

adb | Android Studio - User Guide

How can I connect to Android with ADB over TCP? - Stack Overflow