MagicTerminal allows you to remotely send terminal commands to any Mac OS X machine running the MagicTerminal desktop server on the local network.
It allows for multiple simultaneous terminals and auto discovery.
The shell used is bash, commands are executed with the privileges of the user under which the server is running.
A single server machine can run multiple servers for multiple users.
Compared to SSH this is just a different approach, there are both advantages and limitations, discovery is automatic trough Bonjour and authentication is handled by pairing, it should be easier to set up overall.