The decisions were taken during the first bilateral meeting between Prime Minister Narendra Modi and President Dilma Rousseff here.
In a special gesture, the host rolled out the red carpet and received Modi, who is not here on a bilateral visit, with full military honours at the Presidential Palace before their meeting over breakfast.
As leaders of G4 countries, Modi and Rousseff called for urgent progress on reforms of the United Nations, including the Security Council, by the time of the 70th anniversary of the UN in 2015.
Modi and Rousseff also agreed to intensify their cooperation in international forums and multilateral institutions including the G20.
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The External Affairs Ministry in a statement said the two leaders agreed to take steps to further expand and diversify trade and investment flows and deepen cooperation in agriculture and dairy science, convention and renewable energy, space research and application, defence, cyber security and environment conservation.
Bilateral trade between India and Brazil stood at USD 9.4 billion last year with balance of trade in favour of India. There have been two-way investments between the two countries and total FDI by Indian companies in Brazil from 2007 to 2013 was USD 0.1 billion.
The agreement on space was made for implementing arrangement establishing cooperation in augmentation of a Brazilian earth station for receiving and processing data from Indian Remote Sensing (IRS) Satellites.
Modi congratulated Rousseff and the people for excellent conduct of the FIFA World Cup and the successful organisation of the BRICS Summit besides arranging a meeting of BRICS leaders with their counterparts from South America here.
He described the sixth BRICS Summit as a historic one which had produced two important agreements over the New Development Bank and the Contingency Reserve Arrangement and lauded the host for her guidance during the summit.