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Is the father listed on the birth certificate or did he sign a voluntary acknowledgment of paternity?.
Is there currently any custody order in place through the court?
If so, does it name the grandmother as the legal guardian of the children?
And the children are presently in the father's custody, correct?
Ok, then the father would be the default legal guardian of the children if the mother is presently unable to care for them. So he is fully within his rights to retain physical custody of them if there is no order naming the grandmother as the back up legal guardian.
And no, the grandmother has no legal standing to file a kidnapping complaint...they aren't her children and are in the custody of their legally recognized father...
Father is going to have to file a motion to modify any visitation schedule with the same judge who put in the initial order and have it changed so reflect him as the sole custodial parent, at least as long as the mother is in jail.
But until he gets that through, he can still legally continue physical custody of the children as he has the highest priority for custody.