A stockpile of USA aid - medicines, medical equipment and nutritional supplements - is in the Colombian border city of Cucuta.
Venezuelan interim President Juan Guaido is calling out the Venezuelan military, imploring them to allow aid into the country.
Maduro's supporters and far-left radicals in the United States have speculated since Guaidó's inauguration that the USA may stage a military intervention in the Latin American country, an option Trump himself has repeatedly maintained remains "on the table".
"Today we delivered the first donation, or the first cargo of humanitarian aid, albeit on a small scale, because you know they have blocked the border for the time being", Guaido, 35, said in televised remarks in Caracas on Monday evening.
Shipments of US food, medicine, and humanitarian aid are on the Colombian side, with a tanker and two large trucks sitting in the middle of the bridge. Guaido announced that three centers would be set up for the collection of humanitarian aid - in the Colombian city of Cucuta, Brazil and at an undisclosed island in the Caribbean.
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Maduro said he will make "the sufficient investment for Venezuela" to strengthen its anti-aircraft and anti-missile defense system, and equip the militia with "even the most modern missiles in the world". It expresses "concern over the threats to use force against the territorial integrity and political independence of.Venezuela", according to the draft.
Mr Guaidó assumed the presidency on January 23 and has been recognised as leader by more...
Last week, the Venezuelan opposition announced its plans to hold an worldwide conference in Washington on 14 February in a bid to attract humanitarian aid to Venezuela.
The opposition leader launched a bid to oust Maduro last month, declaring himself interim president, a move recognised by the United States and around 50 other countries, including 20 from the European Union.
A drop in energy prices, corruption, and failed socialist policies have destroyed the oil-rich Venezuelan economy, leaving severe shortages of food and medicine and out-of-control inflation.