I missed the programme, but am one of the lucky ones, who had no bother with ATOS. The lovely nurse could hear me wheezing as I followed her down the corridor, and then just basically asked me a couple of questions, asked how I'd got there (friend had given me a lift), and said if I'd come alone they'd have arranged and paid for a taxi to get me home again.
I got my DLA no problem too, but got the welfare officer at the council to do the forms for me.
ESA renewal went through no problem this year, and DLA is due in 2014. I am worried about that and losing my car.