This is a solution to the above error that I want to document. I found other similar posts, but none described how this error can be associated with Cordova or Ionic.
I
In follow up to Chuck Holbrooks answer, with following solution I get an error when trying to add android platform again saying it is already added.
ionic cordova platform remove android
ionic cordova platform add android
My working Solution:
ionic cordova platform remove android
ionic cordova platform check android
ionic cordova platform add android