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Semi-direct products and associated graded Lie algebras

Let $G$ and $H$ be groups and $G\ltimes H$ their semi-direct product given by $f\colon G\to \operatorname{Aut}(H)$ satisfying $f(g)=\operatorname{id}_H$ in $H/[H,H]\,$ for all $g\in G$. In this ...