score:4
According to Wikitravel's entry on Udaipur:
Taxis to the city cost INR 500 and are the only means of transport to and from the airport.
...and I'm not surprised to hear that. Until five years ago or so, public transport connectivity was bad with many major city airports too. You could potentially try taking a bus to the city outskirts but your bargaining power with taxis there will be even lower. Go to a crowded taxi stand, name a low price (like Rs100-200) and bargain hard. Walk away at the very first attempt of whatever the taxi drivers reply, one of them will eventually call you back.
EDIT by OP: