Commentary: Syntax is: NP[agent] UNDERTAKE[durative] NP[goal]
NOTE: the undertaking is not a single speech act of consent, but an ongoing complex activity.
John is undertaking a sailing trip around the world, single-handed.
Sally undertakes a lot of projects but never seems to finish any of them.
The Allies undertook a daring and momentous operation on D-Day.
WordNet 3.0 Sense Numbers: 1, 2, 5
Commentary: Syntax is: NP[agent] UNDERTAKE[punctual] to VP
NOTE: the consent occurs punctually, the state of obligation thereafter may endure.
In the 1960s the CSIR undertook to build a multi-purpose conference centre.
The IT manager undertook to produce a draft statement of the policy.
The British Library undertook to support libraries and other organisations.
The makers of our Constitution undertook to secure conditions favorable to the pursuit of happiness.
WordNet 3.0 Sense Numbers: 3, 4