Agile is planned, just on a shorter time scale and gets more vague over time. Sprints have end goals, and so do epics. Waterfall had big upfront design, which

Agile is planned, just on a shorter time scale and gets more vague over time. Sprints have end goals, and so do epics. Waterfall had big upfront design, which meant every time a manager asked for a change it screwed up the design and had to modified which took a lot of time. So people didn't ask for changes and the resulting software didn't do what they really wanted. Iterative development tries to embrace change, it's an attempt at controlled change.