Trucks from a Russian aid convoy started crossing back into Russia today after unleashing a storm of anger in Western capitals yesterday by driving into Ukraine without the permission of the government in Kiev.

The return of the trucks may help ease the tension to some extent in time for talks in Ukraine's capital between visiting German Chancellor Angela Merkel and Ukrainian leaders over how to end the crisis in the ex-Soviet republic.

Western leaders had joined Kiev in calling the Russian convoy -- about 220 white-painted trucks loaded with tinned food and bottle water -- an illegal incursion onto Ukraine's soil, and demanded that they be withdrawn as soon as possible.

A Reuters journalist at the Donetsk-Izvaryne border crossing, where the convoy rolled into Ukraine on Friday, said over 100 trucks had passed back into Russia and more could be seen in the distance arriving at the crossing.

Russian state television had earlier broadcast footage of some of the trucks being unloaded at a distribution depot in the city of Luhansk, eastern Ukraine. The Russian foreign ministry said the aid reached its intended destination.

The city is held by separatist rebels who are encircled by Ukrainian government forces, and has been cut off from power and water supplies for weeks. International aid agencies have warned of a humanitarian crisis.

NATO said it had reports that Russian troops had been firing artillery at Kiev's forces inside Ukraine - fuelling Western allegations that the Kremlin is behind the conflict in an effort undermine the Western-leaning leadership in Kiev.

"Since mid-August we have multiple reports of the direct involvement of Russian forces, including airborne, air defence and special operations forces in Eastern Ukraine," said NATO spokeswoman Oana Lungescu.

"Russian artillery support - both cross border and from within Ukraine - is being employed against the Ukrainian armed forces," she said.

Russia denies giving any material help to the rebellion in eastern Ukraine, a mainly Russian-speaking region. It accuses Kiev, with the backing of the West, of waging a war against innocent civilians.

The conflict in Ukraine has dragged Russian-Western relations to their lowest ebb since the Cold War and sparked a round of trade sanctions that are hurting already-fragile economies in European and Russia.

The German leader landed in Kiev and was scheduled to meet Ukrainian President Petro Poroshenko and Prime Minister Arseny Yatseniuk.

Diplomats say she will show support for Kiev, but also urge Poroshenko to be open to peace proposals when he meets Russian President Vladimir Putin for talks next week.

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