Russian President Dmitry Medvedev said Moscow would work with NATO to study a future European missile defence grid and hailed the success of Russia's first summit with the Western allies in two years.
"A period of very difficult tense relations has been overcome. The Russia-NATO summit took place in a very constructive atmosphere," he said, after the meeting with the 28 NATO members in Lisbon.
"We agreed that there exist lots of problems upon which we could cooperate very successfully," Medvedev said.
"We have ambitious plans, we will work across all directions including European missile defence, and the Russia-NATO council has demonstrated that."
Earlier, NATO leaders invited Russia to take part in developing a European anti-missile shield and announced that Moscow had agreed to allow the allies to ship more military equipment to and from Afghanistan through Russia.
Russia, NATO's former Cold War foe, has being going through a period of difficult relations with the West since its 2008 war with Georgia, a friend of NATO, and amid tensions with the United States over an earlier missile shield plan.
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