This is the standard definition of consensus used since the 1960s and 1970s, and probably before. It was published in 1981 in United Judgement: The Handbook of Consensus Decision Making by the Center for Conflict Resolution.
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The goal of consensus is a decision that is consented to by all members. Of course, full consent does not mean that everyone must be completely satisfied with the final outcome—in fact, total satisfaction is rare. The decision must