One of the differences between Agile and Waterfall software development cycles is that the Agile is more flexible while Waterfall tends to be more rigid. Agile breaks delivery efforts into sprints and is more accommodating for shifting requirements. Waterfall moves in a sequence of steps. Requirements, design, implementation, testing, and release. A large project developed using agile would see looping progressions where a piece of functionality might go from requirements all the way to testing but loop back again due to changing requirements and specifications. Waterfall is linear and makes the most sense when the requirements for a project are expected to be well-defined and stable until release.
I have seen developers get the most benefit from Agile in external customer/user facing applications. In such cases, canary and beta testing feeds back into the development cycle and encourages updates. On the embedded side, though we also use agile, I see less cycling since the hardware design is usually stable and the APIs that we provide to other developers working on userspace applications usually require fewer divisions than for example a customer facing GUI.
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