The trip would begin on Tuesday, March 6, the officials said.
On Monday, acting assistant secretary of state for African affairs, Donald Yamamoto confirmed the meeting between President Uhuru and Tillerson, although he did not disclose what will be discussed.
The African Union, which represents 55 countries in the continent, demanded an apology by Trump and a group of African ambassadors to the United Nations also denounced the comments, saying that they were 'scandalous, racist and xenophobic.' After more than one year in the post, Trump has not appointed any head of the USA diplomacy to Africa and the embassies in the Democratic Republic of Congo, Somalia, South Africa and five other countries are still without diplomatic representatives.
Tillerson also lauded the progress Africa, as a continent, has made with democracy.
Without partnerships to build infrastructure and achieve more economic development, Tillerson warned there will be "new ways for terrorists to exploit the next generation."He said the administration is willing to collaborate with African countries to address the "drivers of conflict" and to build the "institutional law enforcement capacity of African nations". "When do we get to see the outlines of what the Trump Africa policy is?"
Tillerson's Africa visit includes Chad, Djibouti, Ethiopia and Nigeria.
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Tillerson spoke about China's investment in the continent at a lecture at George Mason University on Tuesday.
China is aggressively working to expand its regional influence, which is something of concern to USA lawmakers. He said its investment had the potential to improve Africa's infrastructure, but added that its approach had led to mounting debt while creating few jobs.
He noted that by the year 2030, Africa would represent about one quarter of the world's workforce and by the year 2050, the population of the continent is expected to double to more than 2.5 billion people - with 70 per cent of them under the age of 30.
Of the newly-announced funds, almost $184 million is for affected populations in South Sudan and more than $110 million is for millions vulnerable in Ethiopia. Another $110 million was destined for Ethiopia to help amid a drought.
Mr Tillerson did not include Kenya, however, among the countries to benefit from a $533 million United States famine-prevention initiative he announced on Tuesday.