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The trio of veteran Joshna Chinappa, Anahat Singh and Tanvi Khanna went down 1-2 to Hong Kong.
Rohan Bopanna and Rutuja Bhosale are also assured of a medal in mixed doubles.
Astride Etro, Agarwalla scored 73.030 to finish third and claimed his second medal of the Asian Games.
Indians will compete in medal events in shooting, chess, fencing and sailing among other sports on the day.
India secured a team gold in dressage event for the first time.
Ankita, the top Indian singles player, cruised to a 6-1, 6-2 win over Hong Kong's Adithya P Karunaratne in the third round of the women's singles event.
The Indian government refused to take the stapled visa and the two players could not take the flight. One player, who was given the accreditation, was told at the airport that her visa was only to Hong Kong and therefore she too did not board the flight.
Ankita, Rutuja progress to pre-quarterfinals
The quartet improved from being in fourth place to finishing third in the final 500-metre of the 2000-metre race.
Arjun Lal Jat and Arvind Singh opened the country's account with a silver medal in the men's lightweight doubles sculls event.