For development or prototyping, I use a rooted device so if that is your case, then on the Android just install adbWireless, available from the Android market.
https://play.google.com/store/apps/details?id=siir.es.adbWireless&hl=en
From within eclipse, install the AdbConnect plugin by choosing 'Help->Install New Software...' and select the site http://ppareit.github.com/AdbConnect/ as update site.
That is it. You not longer need a cable for debugging. Enjoy!