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Shock collar (less than $200). They learn very quickly. Invisible fence works well also, but the shock collar also allows you to train the dog so he obeys no matter where you are. I can take my dog (Doberman-Coonhound mix) to a public park and he'll stay right by my side no matter what. I actually hardly put the shock collar on him anymore. Once in a while just for some simple reinforcement.
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