A mother who went on the run with her two young sons had previously drugged them and made false allegations of sexual assault against their father, a judge has revealed.
Samantha Baldwin separated from the boys' father and then made accusations against him in December 2014.
During a lengthy police investigation and family court trial, it emerged 40-year-old Baldwin gave her children substances to induce positive results for sedatives and anti-anxiety drugs to implicate the father.
In a statement at Nottingham Family Court, Judge Jeremy Lea said he found the father innocent, a decision Baldwin disagreed with.
He described how, while he was making a judgement on the boys' future, Baldwin made a quick getaway from court before collecting the boys from a secret location.
They were missing for 10 days before a tip-off from a member of the public led to their discovery at the Sherwood Hideaway woodland retreat in Ollerton, Nottinghamshire, on April 6.
Samantha was arrested on suspicion of abduction and was bailed pending further enquiries.
The boys were placed with child care professionals.
Judge Lea said in a statement: "This began as a private family law case between a mother and father. They had separated. They had been in a dispute over the amount of time that their two boys should spend with the father.
"In December 2014, the mother alleged the father had sexually abused his sons. The father adamantly denied that he had done so. The police investigated. Given the seriousness of the allegations all contact between the father and his sons stopped.
"There was a fact finding hearing to decide whether the allegations were true before me in February 2017.
"I heard evidence over 12 days. I heard from the mother and the father who both had experienced senior counsel to represent them and 14 witnesses. I had regard to over 2,000 pages of documents. I heard oral submissions from the advocates on the evidence I had received.
"I made a prohibited steps order against the mother, with her consent, that she would remain living at her stated address with the boys. I reserved judgement to Monday, March 27."
"In the middle of delivering my judgement on that morning, the mother abruptly left court. It is now apparent she picked up her sons from an unknown location and disappeared with them, putting her breach of the court order."
Nottinghamshire Police put out a public appeal to help find Samantha and her sons the same day.
In order to help the search, the judge took the step of allowing pictures of the children to be released.
Neighbours reported at the time that she had left a set of keys so that her cats could be fed.
The judge refused to comment further on her alleged abduction, but said it was likely she fled because she disagreed with his judgement.
He said: "The police are investigating how she did this and I make no further comment, save that it is my assessment that it was plainly pre-planned and carefully executed.
"The mother intended to prevent the court from taking decisions as to the arrangements that should be made for the boys in light of my findings.
"I made a number of specific findings in my judgement.
"At the beginning of that judgement I set out the respective positions of the parents in these terms: 'A calamitous case. The two boys that I am concerned with have either been grossly sexually abused by their father, members of the father's family, and a number of his male friends.
"Or, in all probability they now have a false belief that he, his family and friends have done so. On either basis, the consequences for the emotional and psychological well-being of these boys may well be catastrophic.'
"In my judgement I found the father had not perpetrated sexual, physical or emotional abuse against the boys as alleged by the mother, or at all, that the allegations made by the mother were false.
"I also found that the mother genuinely believed he had done so, but that her belief was irrational and that the evidence of abuse was unreliable."
The judge said that during the trial, Samantha had given her sons sedatives and anti-anxiety drugs to try and prove the father guilty.
He said: "I also made a finding that in order to try to prove her case against the father, the mother had caused the boys to ingest substances that would give rise to a positive testing for benzodiazepine products and zolpidem.
"It is not uncommon in contested family proceedings that one side, and occasionally both sides, are of the opinion that the judge's decision was wrong.
"It is open to such a party to ask the judge himself or the Court of Appeal to give permission to appeal against the decision. What is not acceptable is for a party to attempt to obstruct the court's decision by removing children, as I am satisfied that this mother did.
"There was understandable concern given my findings as to what the mother might do. I made a recovery order, empowering the police to find and keep safe the children. I authorised the release of the names of the mother and the boys to assist the police to find them.
"The mainstream press and media gave some very helpful coverage - as a result, a tip-off from a member of the public enable the police to find the boys. They are now in the interim care of the local authority.
"I now have to decide what care arrangements have to be made in the best welfare interests of these boys. They could not immediately return to their father. I'm very concerned as to the impact of continued press and media intrusion into their lives. They need to be protected from much of what has been inaccurately reported about their parents and about what has happened to them.
"I delivered this judgement in open court to summarise my principle findings. Any reporting should be limited to the facts set out in this judgement."
Zolpidem is a sedative, and benzodiazepines are a class of drug used to tackle anxiety.