First off, take the dogs on a leash where there are people who are not too close (like a park or a parking lot) and let them figure out that the people are not going to hurt them. At home put them in a kennel when strangers come. Let the kids talk to them but not touch them and then after they get used to that, give them small treats through the kennel door. This is going to take some time so don't rush it. Let the dogs tell you when they want to be closer to people. Don't scold or make a big fuss when they bark but quietly shhhh them. Get on the internet and look up tips for socializing dogs.