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This does indeed appear to be a typo. Using that $e_m$ is bilinear and alternating, one calculates \begin{align*} F_W(a,P_b,Q_c) \;&=\; e_m([b]P,[c]Q)^a \\&=\; e_m(P,Q)^{abc} \\&=\; e_m(Q,P)^{-abc} \\&=\; e_m([b]Q,[c]P)^{-a} \\&=\; F_W(a,Q_b,P_c)^{-1} \text. \end{align*} (However, note that these are only different if the order of \$...

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