There are three key matters of US federal statue and US case law which support the action of the President, The Secretary of State, the Secretary of War, the DoJ, FBI and US Military to arrest, seize and extract Maduro, his wife, and son, on Venezuelan soil to bring them to the US under indictment for criminal acts against the US and its citizens.
They are:
18 USC § 3184 Extradition of fugitives from a foreign country
US v Alvarez-Machain 504 US 655 [1992] US Supreme Court
Kerr v Illinois 199 US 436 [1886] US Supreme Court