A catio or cat enclosure is a great idea for your kitties. Since you have children who run in and out, it will be difficult to keep your kitty from escaping. If you Google "cat enclosure" or "catio" you will find a ton of photos and information on building one or you can purchase portable ones -- I always thought the portable ones aren't completely escape proof. Many enclosures can be built inexpensively. There are also fences to keep cats in the yard (Purrfect Fence is one). Recently, someone on here recommended an electric fence. I'm sure the transmitter that has to be worn by the cat would be way too heavy for your kitten.
The one thing you want to make sure is that your kitties are microchipped in the event they get out and are found by someone else.
Know that if you walk your kitty with a leash, that only makes the desire to be outside even stronger. But, at least the kitty gets exercise and it may calm him down for a little while. The other good thing is that if your kitty does ever get outside, he will be familiar with the area enough to find his way back home.
I just think you can tell your children a million times to make sure the cat doesn't get out and the cat will still eventually get out.
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