  This paper considers a resilient high-dimensional constrained consensus
problem and studies a resilient distributed algorithm for complete graphs. For
convex constrained sets with a singleton intersection, a sufficient condition
on feasibility redundancy and set regularity for reaching a desired consensus
exponentially fast in the presence of Byzantine agents is derived, which can be
directly applied to polyhedral sets. A necessary condition on feasibility
redundancy for the resilient constrained consensus problem to be solvable is
also provided.
