Developers see a reasonable plan based upon their own estimates, and controlled by their own measured velocity. They choose the tasks they feel comfortable working on and keep the quality of their workmanship high.

Managers receive data every iteration. They use this data to control and manage the project. They don’t have to resort to pressure, threats, or appeals to loyalty to meet an arbitrary and unrealistic date.

If this sounds like blue sky and apple pie, it’s not. It’s not likely that the stakeholders will be happy with the data that the process produces. At least not at first. Using an agile method does not mean that the stakeholders will get what they want. It just means that they’ll be able to control the team to get the most business value for the least cost.