Develop software in increments using 2-week iterations; use iteration 0 (or cycle, 0) for environment setup and proof-of-concept. Have an iteration planning meeting before each iteration to pick the user stories that will be developed in the next iteration. Get best-guess estimates from developers, based on chosen stories for iteration. Users provide acceptance tests as detailed requirements; developers implement these as unit tests. Let developers design and develop the system with user available for Q&A, as needed. Deploy production-ready code every two weeks after it has passed the user acceptance tests.
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