Pedersen said there was a "respectful tone" during the group's meeting, which ended on August 29.
At the same time, he noted that "strong disagreements" also appeared at the meeting.
Pedersen added that the members of the drafting group "want to meet again" after agreeing on the agenda.
Earlier, Russian and Turkish Foreign Ministers Sergei Lavrov and Mevlut Cavusoglu discussed the situation in Syria.