The Pentagon said the deal is a first of its kind intelligence-gathering agreement.
The meeting signals an ease of tensions on the Korean Peninsula.
The U.S. is also planning to destroy its stockpiles of anti-personnel landmines.
"We're very committed to that region,” Rear Adm. John Kirby told reporters.
The move comes just days after Obama warned Pyongyang against further “provocations.”
The drone fell on an island during an exchange of artillery fire.
Obama said his commitment to security of Japan and South Korea was "unwavering."
Approximately 800 more soldiers will deploy to South Korea next month.
The State Department said South Korea was “planning to adjust” its zone.
The vice president will visit Japan, China and South Korea as part of Obama's "pivot."
It's unclear if North Korea is involved.
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"It will be the first combined field combat unit to carry out wartime operations."
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The South Korean ferry was carrying 459 people when it sank in the Yellow Sea.
North Korea said the artillery rounds were part of an exercise in response to a U.N. warning.
The missiles reportedly traveled about 43 miles before crashing into the sea.
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"Obama's decision to rebalance to the Pacific Basin is not in question,” Biden said.