RBI mandate comes into picture if you deal with a bank or deal with an Indian payment gateway which has to comply with RBI.
RBI mandate does not come into picture if you integrate VISA or MASTERCARD APIs directly.
For example: VISA provides MDEX: https://usa.visa.com/run-your-business/commercial-solutions/solutions/merchant-processing.html Mastercard and others also have similar service.
Basically for high volume card processing, you can directly integrate using card issuer, who is out of India.
You get a backend system which provides you payment processing, similar to the interface banks have with VISA and MASTERCARD. If you do this integration, you are just doing the same thing that a payment gateway does, minus RBI complications. Even payment gateways can take payment without OTP etc, if an SI comes into picture (your consent basically overrides the requirement of OTP for next charge request). In this case ccavenue is doing the same thing. Technically ccavenue can very well process any payment without OTP even today, if RBI had not put those restrictions.
So, you can very well do recurring payments in India, in following manner:
1. You need to have the required secure IT infra, mandatory for getting permission to save the card information in your own server (see https://www.pcicomplianceguide.org/pci-faqs-2/).
2. After saving card info in your own server, just trigger a payment every month using MDEX etc.