Is parental consent required for a grandparent adoption?

Our two granddaughters were taken away from their parents by the Florida foster care system. The parents are both substance abusers and had been neglecting the children. We have approached child protective services about possibly adopting our grandchildren. The parents have made it clear that they will never consent to giving up their parental rights to the children or to us adopting them. Is it possible to adopt our grandchildren without their parents’ consent? If so, would it be necessary to go to court to complete the adoption and would the children be involved in that process?