Get the West Systems G Flex kit that comes with unthickened epoxy and colloidal silica powder (650K). Don't worry that West Systems calls this the "Aluminum Boat Repair Kit". You can add silica powder (cab-o-sil) to the mixed epoxy to get the consistency you want. The tapered tip dental syringes are also very handy for dispensing mixed epoxy into cracks.
You are best off if you remove a little of the interior or exterior vinyl color layer off the Royalex immediately around the cracks. You need to gutter out the cracks to achieve an adequate bonding surface and make sure your epoxy gets down into the foam core of the crack. A Dremel with an appropriate grinding tip is very helpful for this but many tools will suffice such as a V-ended scraper, or even an old "church key" can opener with a sharpened tip.
West Systems recommends pretreating ABS by flame oxidizing the surface to be bonded with a hand-held propane torch, but notes that this step is "optional " for ABS (it is essential for polyethylene). If you do this be very careful to pass the flame tip over the cracked surface very quickly as the foam core especially is vulnerable to melting. The G Flex mixes one to one by volume and can be mixed by eye in very small volumes which is convenient. Mix the resin and hardener together and then stir in some silica powder to thicken it and create an "epoxy glue". I would go for a consistency about that of mayonnaise. Don't make it too thick to load into the dental syringe. You won't be able to draw the thickened epoxy up through the tip of the syringe. Take out the plunger, plug the syringe tip, and pour the mixture into the open end. Loosely put the plunger in the syringe barrel, invert the syringe and allow the air bubble to make its way up toward the tip end, then expel the air.
In order to completely fill cracks extending into the foam core usually requires multiple applications as the mixed epoxy will settle into the interstices of the foam core. If you overfill the cracks, the cured epoxy can be easily sanded down flush. Once the epoxy is fully cured, it is best to cover it with paint to protect it from UV degradation.