“…. , F m } to n, there exists a (unique) Lie algebra morphism from f m,r to n extending L. The construction of such a Lie algebra f m,r is classical (see, e.g., [30,31]; the reader is also referred to [19,16] for the construction of a basis for f m,r ). We say that a Carnot group G is a free Carnot group if its Lie algebra is isomorphic to f m,r , for some m and r. Notice that, in this case, m necessarily equals the dimension of H (as in (2.1)) and r is the step of nilpotency of G.…”