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The opposition leader has said he wants to rally supporters and continue his push for the ouster of President Nicolás Maduro. His return could spark a showdown with Maduro.
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The meeting is set for Monday in Bogota, Colombia. At least four people were killed in clashes at the border Saturday, as military forces blocked humanitarian aid from entering the country.
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More than a dozen nations in the Western Hemisphere, known as the Lima Group, also admitted Guaidó's interim government as a full member.
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President Trump recognized Juan Guaidó over Nicolás Maduro as Venezuela's president as protesters flooded the streets. Maduro said U.S. diplomats had 72 hours to leave.