Generalized Jacobi identities and ball-box theorem for horizontally regular vector fields

We consider a family of vector fields and we assume a horizontal regularity on their derivatives. We discuss the notion of commutator showing that different definitions agree. We apply our results to the proof of a ball-box theorem and Poincar\'e inequality for nonsmooth H\"ormander vector fields.Comment: arXiv admin note: material from arXiv:1106.2410v1, now three separate articles arXiv:1106.2410v2, arXiv:1201.5228, arXiv:1201.520