Reward developers for negotiating a schedule they prove to meet
Both overly ambitious schedules and overly generous schedules have their pains, either for the developers or the customers. A lax schedule gives rise to ComplacentWorkers and missed market windows. An overly ambitious schedule gives rise to BurnedOutWorkers, architectural shortcuts and a poor base for future maintenance. Ask the developers to negotiate a schedule, and reward them for meeting the schedule they agree to.
More modern methods have the schedule based on the SustainablePace established by the team. Here we are taking the first steps toward estimating what might be a sustainable pace.