Definitions
1.verbTo take upon oneself; to start, to embark on (a specific task etc.).
2.verbTo commit oneself (to an obligation, activity etc.)."He undertook to exercise more in future."
3.verbTo overtake on the wrong side."I hate people who try and undertake on the motorway."
4.verbTo pledge; to assert, assure; to dare say.
5.verbTo take by trickery; to trap, to seize upon.
6.verbTo assume, as a character; to take on.
7.verbTo engage with; to attack, take on in a fight.
8.verbTo have knowledge of; to hear.
9.verbTo have or take charge of.