Sets resilient to erosion

The erosion of a set in Euclidean space by a radius r>0 is the subset of X consisting of points at distance >/-r from the complement of X. A set is resilient to erosion if it is similar to its erosion by some positive radius. We give a somewhat surprising characterization of resilient sets, consisting in one part of simple geometric constraints on convex resilient sets, and, in another, a correspondence between nonconvex resilient sets and scale-invariant (e.g., 'exact fractal') sets.