Geodesic
Generation of the lower central series
Glasgow mathematical journal, Tome 23 (1982) no. 1, pp. 15-20

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Let G be a group. The rth term LrG of the lower central series of G is the subgroup generated by the r-fold commutatorswhere , and for r > 1, 
Guralnick, Robert M. Generation of the lower central series. Glasgow mathematical journal, Tome 23 (1982) no. 1, pp. 15-20. doi: 10.1017/S0017089500004742
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