re: Electric fence/shock collar for dogs recs

have you beaten their asses for escaping?
Have you trained them to stay in the yard even when the gate is open, and only leave the yard when you say so?

I had this problem with my two. Took a few beatings and some simple training of them simply waiting for me to give them the ok to do things like leave the backyard, or wait for a treat.

I think the biggest thing i did was make them wait for my approval for just about everything. I don't try to forbid them from doing things all together. I will fuss them if they do things without my approval, but will show them that they can do all these things, if they simply wait for me to say "ok". When i say the word "ok" they know they can proceed.
We used to have rabbits in our backyard every evening and morning. When i'd let the dogs out, i'd slowly open the door and make them wait at the door. then i'd say "ok" and they'd chase after them.
Same thing when we use to live by a pond. I'd open the gate and start walking to the pond but make them wait at the gate, then i'd say "ok" and they'd run out.
Let them know you're happy they listened.