The odd primary order of the commutator on low rank Lie groups by Tse Leung So (2017 preprint, revised 2018)

By Tse Leung So. Primary preprint arXiv:1707.00739v2: arxiv.org/abs/1707.00739v2

§1, first page, defines the Samelson product as the topological-group commutator descended from a Cartesian product to a smash product, with commutator convention f inverse, g inverse, f, g.