"In response to the mediation of the Kingdom of Norway, (the opposition) will attend a meeting with representatives of the usurper regime in Barbados, to establish a negotiation on the end of the dictatorship", Guaido said in a statement on Sunday.
After talks between the Venezuelan government and opposition failed in Oslo last May, the country's president said on Monday he is hopeful for a new stage of negotiations in Barbados if there is "no USA interference".
Barbados Prime Minister Mia Mottley, who has welcomed the talks, said she supports the efforts by the Caribbean Community (Caricom) for dialogue to end the crisis.
Maduro's representatives and the opposition held talks in Norway back in May. The talks come amid a profound economic and humanitarian crisis in the country, where hardship has made life untenable for many Venezuelans with basic needs, such as food and medicine, hard to come by. It comes after two rounds of informal negotiations were held in May - four months after Juan Guaido declared himself the legitimate President and called for U.S. intervention to oust the current incumbent.
"We have the legitimate right to build the worldwide capacities and alliances necessary to protect and defend our people and our sovereignty", Guaido said on Twitter.
Mr. Guaido is backed by the United States and several other western countries, while Russia, China, and Cuba are among countries backing Mr.
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Venezuela's Government and Opposition have agree to resume stalled talks.
Guaido said at that time, though, that if fresh talks aimed at "facilitating the cessation of the usurpation" of Maduro were announced, "we will officially communicate".
It a statement, the Ministry of Foreign Affairs said that the parties would meet to continue work on finding a negotiated and constitutional solution, "as quickly as possible".
However, he reiterated that the opposition's objective is to see "the end of the usurpation, a transitional government and free elections with global observers". While Maduro states he's the democratically elected President.