No, there is no such form. If your kids qualify as your dependents by IRS criteria, you should go ahead and claim them on your tax return. If you e-file your return and it's rejected because your ex has already claimed them, then just print and mail your return.
If the IRS receives two tax returns, each claiming the same dependents, they will contact each taxpayer and they will sort out who has the rightful claim.
**Answers are correct to the best of my ability but do not constitute tax or legal advice.