Yeah, I thought about rock climbing techniques; they put hooks into rocks all the time. Will consider the bolting a post into rock.
Visit a nearby rock climbing shop and explain what you want to do. Perhaps someone there could point you in the right direction. They could put you in touch with someone who owns a Bosch drill. If you did not mind the labor a simple star drill would do. I would consider drilling few holes (two) in the rock and bolting a multi-holed post at each location; a labor saver. For fencing duty, simple expansion bolts would work fine. No need to epoxy.