There are two different issues here, I think.
First, you want the cats to come to you when it's time for something like brushing (or making sure they're inside). This is a cat training issue, and of course cats can be trained! Not training them is training them that they don't have to come to you when called.
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Second is tripping over then and other issues. It would be great if animals always knew where we were and got out of our way, but sometimes they sleep or aren't paying attention.
If your cats can hear, you can train them based on an auditory signal, just as loudly clapping your hands, stomping your foot, or just saying, "Yo, cats!"
Frankly, I talk to myself all the time, so shouting out, "Yo cats!" or "Yo pupper!" would seem par for the course. LOL
And finally, the escaping issue... this really is a difficult one. Long-term, you train the cats to sit and stay at the door and never run outside. Depending on the cat, that can be more difficult or not.
But it's a safety issue and you need it resolved now in the short-term as you work on the longterm. /u/winkta's answer is really good. They get treats that are tossed away from door.
And... you can also do this with their meals! Time their meals to be when you leave for work and when you get home.
When you leave, give them delicious food in another room. When you get home, immediately give them food in another room. They can learn that the good thing that happens when the door opens... is food in another room!