Even I ended in the same Issue. I have connected two devices to the same machine and started to different Appium servers . I was successfully able to push and launch the .Apk File(Hybrid Apk) in both the devices. But I am not able to switch between the 2 drivers for interacting. For example after logging in first driver, I'm not able to interact with 2nd driver. It shows session not found Error. Please find the logs.
org.openqa.selenium.remote.SessionNotFoundException: no such session
(Driver info: chromedriver=2.21.371459 (36d3d07f660ff2bc1bf28a75d1cdabed0983e7c4),platform=Windows NT 6.3 x86_64) (WARNING: The server did not provide any stacktrace information)
Command duration or timeout: 31 milliseconds
Build info: version: '2.53.0', revision: '35ae25b', time: '2016-03-15 17:00:58'
System info: host: 'onsitelaptop', ip: '192.168.56.1', os.name: 'Windows 8.1', os.arch: 'x86', os.version: '6.3', java.version: '1.8.0_31'
Driver info: io.appium.java_client.android.AndroidDriver
Capabilities [{app=C:\Workspace1\UCEdgeProject\UCedge\UCedge_Android_2.6.1.Xdev_debug.apk, networkConnectionEnabled=true, warnings={}, databaseEnabled=false, deviceName=BH903R1G1E, platform=LINUX, desired={app=C:\Workspace1\UCEdgeProject\UCedge\UCedge_Android_2.6.1.Xdev_debug.apk, newCommandTimeout=800, platformName=Android, udid=BH903R1G1E, deviceName=BH903R1G1E}, newCommandTimeout=800, platformVersion=5.1.1, webStorageEnabled=false, locationContextEnabled=false, browserName=Android, takesScreenshot=true, javascriptEnabled=true, platformName=Android, udid=BH903R1G1E}]
Session ID: 4fe65b3d-3f89-4283-a62e-ce7a6f54f215