Generators of compact Lie groups

Question

Suppose $G$ is a compact connected Lie group and let $\{X_i\}$ be a basis for its Lie algebra $\mathfrak g$. We know that the exponential $\exp:\mathfrak g \to G$ is surjective but when is it the case that $G$ is generated by $\{\exp(tX_i) : t\in \mathbb R\}$?

Answer 1

The map $\mathbb{R}^n \to G$ sending $(t_1, \dots, t_n)$ to $\mathrm{exp}(t_1 X_1) \dots \mathrm{exp}(t_n X_n)$ has nonsingular Jacobian at $0$, so its image contains a neighborhood of the origin. By a standard argument, a neighborhood of the origin in a connected topological group generates the full group.