Explanation:

- Udaipur: Udaipur, often called the "City of Lakes," is famous for its stunning lakes like Lake Pichola. It is indeed located on the banks of this beautiful lake.

- Ahmedabad: This bustling city is located on the banks of the Sabarmati River. It is not associated with Lake Pichola.

- Agra: Known for the Taj Mahal, Agra is situated on the banks of the Yamuna River. Lake Pichola is not linked to Agra.

- Kurnool: This city is located on the banks of the Tungabhadra River and does not relate to Lake Pichola.