If your children are listed scheduled drivers on your insurance policy then they are covered. If they are not a scheduled driver then maybe they are and maybe they are not. It depends on the circumstances.
For example. If your children are grown and do not live with you and only drive your vehicle on an occasion when they might come to visit you, then they would be covered under permissive use rules on a standard auto policy form.
If your children are household residents then they must be scheduled on your policy to be a covered driver. The Insurance company can deny all claims from the injured parties and offer no coverage for the vehicle being driven as well.
Check your policy type. If you purchased one of the cheaper limited policies or a named driver policy, then there is no coverage for other drivers regardless of who they are or any permissions that were given.
Failure to add a known driver to your policy is considered Insurance Fraud by concealment and could subject the insured to cancellation, non renewal and can void all coverage under your policy.
Basically any one who has regular access to your vehicle and is not scheduled under the policy is an uninsured driver.
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