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The parents can be held liable for truancy vioaltions if the children are not going to school. The fact that the parents are disabled is not sufficient to remove the children from the home. Chronic truancy or failure to supervise may be sufficient depending on what the chldren are doing. The question to be asked is whether the parents are taking care of the children, shelter, clothing and food.
If there comes a time when the children are removed they would be taken by the local children's services. These days Childrens Services will try to make a "kinship" placement. Since you are related to the children you would be eligible for such a placement. Your being in another state complicates matters as the local childrens services will need to file an Interstate placement document with the childrens services of the receiving state. It is possible, but the fact the parents are sill in the picture makes this a question of whether it would be permitted.
When you indicated you are preparing documents this would be for guardianship. A court would have to approve any such arrangement. Having them in advance would be useful, but you could also request guardianship at any hearing where the children are being removed from the parents.
Ther are many support groups available, if you indicate what state I amy be able to provide more information.
I would suggest you call the Allegheny County CASA office. They can help you with the options that are available, and can help by recommending custody options should the children become the responsibility of children's services.
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