The CPS won't let me around my kids even after charges for assault and battery on the 13 year old were dropped after the child testified nothing happened.

Were those the only charges? Have they completed their own investigation which may take longer or be more involved than just that one felony charges.

CPS will also investigate, and even if criminal charges are dropped, that is not good enough for them, they have to be sure, nothing really happened. CPS has much lower standards of evidence and requirements than criminal court has.

You will need a family law attorney who is experienced with CPS rules

How far are you with the court hearings? You can always contest the jurisdiction, that will allow you to present your evidence and witnesses. Cps is a very powerful entity but you have rights! If you were appointed a public defender, he will not put the time in to fight for you. You must do the work yourself . Keep calling, ask to talk to the workers supervisor and the supervisors supervisor. Don't give in! And don't let them win this one!

... You can always contest the jurisdiction, that will allow you to present your evidence and witnesses. ...

Huh? OP's right to present a case doesn't require that OP contest jurisdiction. And unless something exists that OP hasn't even hinted about, I see no jurisdictional issue. So contesting jurisdiction would only get OP laughed at.

The OP said charges were dropped, so there wouldn't appear to be any current court hearings. Also I see no jurisdictional issue.

What is needed is to talk to the case worker. Get a clear explanation of what CPS wants before returning the children.

@Victoria. I know you think you have found a lot of questions to answer, and some you have answered inappropriately. You had better leave some of these questions to long time legal experts who can answer in the best way possible.