There is a misconception that in Agile development you can plan as you go along. In fact, you still need to plan ahead. What is different compared with waterfall development is that we respond to change over following a plan created when we knew less than we do now.
In this episode, we discuss several techniques for understanding what the desired business outcome is so that we can plan how to achieve the outcome more than, for example, the detailed features that, in any case, we may want to adjust as we start to gather user feedback.
We also talk about understanding dependencies and risks so that those can be planned for, rather than being surprised by them late in the development cycle.

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