Weeks of coding can save you hours of planning. Agile doesn't mean you don't plan, it just means you don't overplan and avoid sticking to plans that don't work.
"It might be annoying to throw out a mostly working plan, but it’s far worse to throw out a mostly working codebase."
Planning with formal specification techniques can be done iteratively to avoid costly big-bang and waterfall design practices such as Big Design Up Front (BDUF).
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