INDIANAPOLIS, Indiana - Nine-times World MotoGP champion Valentino Rossi believes he and Jorge Lorenzo can put their past differences aside and will have no problems co-existing as team mates with Yamaha.Click here to see Rossi explain why he left Ducati.Rossi, in Indianapolis to prepare for Sunday's race at the historic Indianapolis Motor Speedway, said: "It will be interesting."RECENT ANNOUNCEMENT The 33-year-old Italian rider recently revealed he would rejoin Yamaha at the end of the 2012 season after an unsuccessful spell with Italian manufacturer Ducati. The move will re-unite Rossi with Spaniard Lorenzo who is leading the 2012 MotoGP championship by 23 points after five wins from the first 10 races of the 18-race series.Rossi added: "The situation has changed a lot compared to the past and compared to 2008 when Jorge arrived at Yamaha. Now he's No.1 on the team and our relationship is good. I have respect for him, he has respect for me. I think we can stay together."Rossi said his break with Ducati was "a great pity for me and Ducati and all our fans, but especially for the guys who worked with me on this project"."We try to be competitive - an Italian rider with an Italian bike - but unfortunately it hasn't happened," Rossi said. "These two seasons have been very difficult and we have struggled a lot. We were not able to improve our speed and our performance or to fight for the good positions.LORENZO'S 'GREAT PLEASURE'Lorenzo said he welcomed Rossi back into the fold, while also acknowledging that the two did not always see eye-to-eye. "I think it's interesting to see how we can handle Valentino and me on the same team and on the same bike," he said. "For me, it's a great pleasure to be team mates with him again."The Spaniard said he had never been in favour of putting up a wall between them in the garage. "I always say the wall is a stupid thing. It doesn't make sense for anything. No wall is OK for me and I think for Vale this time."Rossi's most recent victory was in October 2010 in Malaysia. He is eighth in the World championship classification.Yamaha Motor Racing said Rossi had signed to race for them through 2013 and 2014, renewing an association that saw him finish in the top three for seven consecutive years - a period that included four titles.Rossi also said that he planned to take his crew with him, was not close to retiring and may even stay beyond 2014."I want to remain more than two seasons in MotoGP but that depends how strong I am and if I'm fast with the M1," he said.American Ducati racer Nicky Hayden said he was not heartbroken to see Rossi go but felt he had been a good team mate."I'm not going to be in tears over it," Hayden said. "As great as it would have been to see Vale at the front with the Ducati, it just hasn't happened."Click here to see Rossi explaining his reasons for leaving Ducati.