Use an iterative waterfall with shorter iterations, and keep the process overhead very low (have peer reviews, version control, automated testing, etc.). Beyond

Use an iterative waterfall with shorter iterations, and keep the process overhead very low (have peer reviews, version control, automated testing, etc.). Beyond that, you need to have a good team, you need to trust the team, and you need to have good management. These are not easy, and no kind of process can solve issues with these.