Why Singapore for the Trump-Kim summit?

A look at the 3 Americans released by North Korea

There has been no word from North Korea on its agenda or what it might offer, although a key issue is certain to be the presence of 30,000 United States military personnel in South Korea, along with the removal of sanctions.

Tony Kim and Kim Hak Song were teaching at the Pyongyang University of Science and Technology.

The two leaders are expected to discuss North Korea's nuclear weapons development and testing programme, which has deepened long-seated tensions between Washington and Pyongyang.

President Trump, who was accompanied by his wife Melania, told waiting reporters it was "nice" of the North Korean leader to release the three men ahead of their planned summit.

Pence said: "I simply let them know that while we received this news with joy, that Otto was on all our hearts and the family was in our prayers".

"I really think [Jong Un] wants to do something", Trump told reporters, according to Fox News.

The three men were jubilant to be back on American soil as Trump escorted them from their plane.

North Korean state media said the men, one of whom had been held since 2015 and the other two since past year, were arrested either for subversion or for "hostile acts" against the government. They were taken to Walter Reed National Military Medical Center to be evaluated and treated as necessary before being reunited with their families.

Last year, North Korea released American Otto Warmbier, a university student who was detained at the Pyongyang airport in January 2016 while on a five-day tour of North Korea.

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The family of Tony Kim thanked all those who worked for his return and also credited Trump for engaging directly with North Korea. Trump said in a tweet. It's believed that a big factor in Rex Tillerson's firing was the former secretary of state's adversion to a hardline approach to North Korea, preferring to seek dialogue.

The announcement came a day after North Korea released three imprisoned Americans during US Secretary of State Mike Pompeo's most recent visit to Pyongyang.

Some analysts suggested Trump was hasty in setting up a meeting with Kim, saying the summit alone confers enormous prestige on Kim among the North Korean people.

Last month the US President reversed his opinion of the dictator, calling him "very open" and "very honourable".

US service members on the tarmac burst into applause and cheers.

"I really think he wants to do something", the President added, speaking about the recent diplomatic efforts of North Korean leader Kim Jong Un.

Kim Dong Chul, a former Virginia resident who had reportedly run a company on North Korea's border with Russian Federation, had been sentenced in April 2016 to 10 years in prison with hard labor after being convicted of espionage. He reportedly ran a trade and hotel service company in Rason, a special economic zone on North Korea's border with Russian Federation.

"If he'll change, completely different from his father, completely different from his grandfather, if he'll set his nation on a unique path, that there is a vivid future accessible for the folks of North Korea", the vice chairman added.

Pence replied: "The US of America is not going to allow Iran to acquire a nuclear weapon".

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