I'm not a Grinch, but I would call the cops pronto. If those kids' parents aren't going to teach them to behave then they deserve to have the police knock on their door and give the boys a little talk about vandalism and other people's property.
Eight year olds know better than to take things that do not belong to them. My three year old knows better than that! I think if it happened again, I would call the police (main number, not 911) and tell them that I wanted to report a case of vandalism and have a car come around and talk to the kids reponsible. If nothing else that should keep them out of your yard.
Whatever you decide to do, talk to their mother. If she's as nice as you say, then she should speak to the kids directly....I hope...