Sons of Rama and their kingdom
Kusha (Kusi) and Luva (Lava)
Uttara Kanda of Ramayana
The intelligent Rama has reared for Kusha the spacious city of Kusavati at the foot of the Vindhya range.
The city of Sravanti has been reared for Lava.
The mighty car warriors Rama and Bharata, making Ayodhya void of men,
have addressed themselves for preparing to heaven.
Sons of Bharata and their kingdom
Taksha and Pushkala
Uttara Kanda of Ramayana
Bharata placed Taksha in Takshasila and Pushkala in Pushkalavati.
Sons of Lakshmana and their kingdom
Angada and Chandraketu
Uttara Kanda of Ramayana
The beautiful country of Chandra dyuti be the kingdom of Chandraketu and having brought the country of Karupada under his subjection gave it to Angada.
Sons of Shatrughna and their kingdom
Shatrughati (Satrughati) and Subahu (Suvahu)
Uttara Kanda of Ramayana
Suvahu was placed on the throne of Mathura and Satrughati became the king of Vidisha.
Did lord Krishna took Avatar when sons of Shatrughna were king of Mathura?
No, please see the explanation here:
Ramayana ➡ Mahabharata: 31 Ikshvaku Kings. What was the (average) age of those kings?
Kansa (or Kamsa) was king of Mathura when Lord Shri Krishna incarnated. Before that Ugrasena was king of Mathura. Shurasena (grandfather of Lord Shri Krishna) was king of Mathura prior to Ugrasena. When Lord Shri Krishna killed Kansa, Ugrasena again became a king of Mathura.
Is Mathura (in which Lord Shri Krishna incarnated) same city on which Shatrughna ruled?
Yes, please see the below explanation:
In Madhuvana, a daemon named Madhu used to live. Kumbhinasi was born of Ravana's maternal aunt Anala. Madhu was Kumbhinasi's husband. Later Madhu's son, the sinful Lavana started living there. (Uttara Kanda of Ramayana)
Lavana got a Trident from his father which was given by Lord Shiva to Madhu earlier. Nobody could kill Lavana when he possesses that Trident. Mandhata (one of the most powerful king from Rama's ancestors) was killed by Lavana. (Uttara Kanda of Ramayana)
Later, Shatrughana challenged Lavana while he was not carrying that Trident and killed him. (Uttara Kanda of Ramayana)
As commanded by Lord Shri Rama, Shatrughana founded a city on the bank of river Yamuna which is came to be known as Madhura or Mathura. That city on the banks of Yamuna appeared beautiful like the half moon and was filled with yards, shops, streets beautiful houses, men of four orders and various articles of trade. (Uttara Kanda of Ramayana)