I recently wrote an expository article presenting an overview of research, conducted mostly between the mid-1990s and late 2000s, that explores a link between commutation relations among a family of asymptotically stable vector fields and stability properties of the switched system that these vector fields generate. This topic is viewed through the lens of my own involvement with it, by interspersing explanations of technical developments with personal reminiscences and anecdotes. You can find the full text here.