Is there a way to connect ios devices without using Xcode GUI?

[LukeyReyno]

I want to use the ios devices wirelessly for automation purposes. Everything works fine when it comes to installing, launching, and closing applications. There is a bit of an annoyance when it comes to having to connect devices. I typically have to go to the Xcode GUI and do "Connect via IP address" before ios-deploy -c will recognize the device. I understand having to do this the first time before after getting the devices to trust each other, but I would like not have to do this every time a device disconnects for whatever reason.
Does anyone know a way around for this that could be added to a script?