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Markus Mauhart, Peter W. Michor
The well known formula $[X,Y]=\tfrac12\tfrac{\partial^2}{\partial t^2}|_0 (\Fl^Y_{-t}ø\Fl^X_{-t}ø\Fl^Y_tø\Fl^X_t)$ for vector fields X, Y is generalized to arbitrary bracket ex…