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

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