diff --git a/include/plasp/pddl/expressions/DerivedPredicate.h b/include/plasp/pddl/expressions/DerivedPredicate.h
index 2ff0c38..c143f07 100644
--- a/include/plasp/pddl/expressions/DerivedPredicate.h
+++ b/include/plasp/pddl/expressions/DerivedPredicate.h
@@ -26,6 +26,10 @@ class DerivedPredicate: public ExpressionCRTP<DerivedPredicate>
 		// TODO: consider implementing parsing functions for compatibility with older PDDL versions
 
 	public:
+		explicit DerivedPredicate(size_t id);
+
+		size_t id() const;
+
 		void setPreconditions(std::vector<Expressions> &&preconditions);
 		const std::vector<Expressions> &preconditions() const;
 
@@ -38,6 +42,8 @@ class DerivedPredicate: public ExpressionCRTP<DerivedPredicate>
 	private:
 		void collectParameters();
 
+		size_t m_id;
+
 		// The arguments are interpreted as a disjunction of conjunctions
 		std::vector<Expressions> m_preconditions;
 
diff --git a/include/plasp/pddl/expressions/Quantified.h b/include/plasp/pddl/expressions/Quantified.h
index f7a8f17..92f8d9e 100644
--- a/include/plasp/pddl/expressions/Quantified.h
+++ b/include/plasp/pddl/expressions/Quantified.h
@@ -197,7 +197,7 @@ inline ExpressionPointer QuantifiedCRTP<Derived>::simplified()
 template<class Derived>
 inline ExpressionPointer QuantifiedCRTP<Derived>::decomposed(DerivedPredicates &derivedPredicates)
 {
-	derivedPredicates.emplace_back(new DerivedPredicate());
+	derivedPredicates.emplace_back(new DerivedPredicate(derivedPredicates.size()));
 	auto &derivedPredicate = derivedPredicates.back();
 
 	m_argument = m_argument->decomposed(derivedPredicates);
diff --git a/include/plasp/pddl/translation/Precondition.h b/include/plasp/pddl/translation/Precondition.h
new file mode 100644
index 0000000..a826d63
--- /dev/null
+++ b/include/plasp/pddl/translation/Precondition.h
@@ -0,0 +1,75 @@
+#ifndef __PLASP__PDDL__TRANSLATION__PRECONDITION_H
+#define __PLASP__PDDL__TRANSLATION__PRECONDITION_H
+
+#include <plasp/output/Formatting.h>
+#include <plasp/pddl/Description.h>
+#include <plasp/pddl/translation/Primitives.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace translation
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Precondition
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class PrintObjectName>
+void translatePreconditionDisjunction(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, const std::vector<Expressions> &preconditionDisjunction);
+template<class PrintObjectName>
+void translatePreconditionConjunction(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, size_t disjunctionID, const Expressions &preconditionConjunction);
+template<class PrintObjectName>
+void translatePrecondition(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, size_t disjunctionID, const Expression &precondition);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class PrintObjectName>
+inline void translatePreconditionDisjunction(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, const std::vector<Expressions> &preconditionDisjunction)
+{
+	for (size_t i = 0; i < preconditionDisjunction.size(); i++)
+		translatePreconditionConjunction(outputStream, objectType, printObjectName, i, preconditionDisjunction[i]);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class PrintObjectName>
+inline void translatePreconditionConjunction(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, size_t disjunctionID, const Expressions &preconditionConjunction)
+{
+	for (size_t i = 0; i < preconditionConjunction.size(); i++)
+		translatePrecondition(outputStream, objectType, printObjectName, disjunctionID, *preconditionConjunction[i]);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class PrintObjectName>
+inline void translatePrecondition(output::ColorStream &outputStream, const std::string &objectType, PrintObjectName printObjectName, size_t disjunctionID, const Expression &precondition)
+{
+	outputStream << std::endl << output::Function("precondition") << "(";
+
+	printObjectName(outputStream);
+
+	outputStream
+		<< ", " << output::Keyword("disjunct")
+		<< "(" << output::Number<decltype(disjunctionID)>(disjunctionID)
+		<< "), ";
+
+	translateLiteral(outputStream, precondition);
+
+	outputStream << ") :- " << output::Function(objectType.c_str()) << "(";
+
+	printObjectName(outputStream);
+
+	outputStream << ").";
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif
diff --git a/include/plasp/pddl/translation/Primitives.h b/include/plasp/pddl/translation/Primitives.h
new file mode 100644
index 0000000..bb026a6
--- /dev/null
+++ b/include/plasp/pddl/translation/Primitives.h
@@ -0,0 +1,117 @@
+#ifndef __PLASP__PDDL__TRANSLATION__PRIMITIVES_H
+#define __PLASP__PDDL__TRANSLATION__PRIMITIVES_H
+
+#include <plasp/output/Formatting.h>
+#include <plasp/output/TranslatorException.h>
+#include <plasp/pddl/Description.h>
+#include <plasp/pddl/expressions/Not.h>
+#include <plasp/pddl/expressions/Predicate.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace translation
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Primitives
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate);
+void translateLiteral(output::ColorStream &outputStream, const Expression &literal);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate)
+{
+	const auto &arguments = predicate.arguments();
+
+	if (arguments.empty())
+	{
+		outputStream << output::String(predicate.name().c_str());
+
+		return;
+	}
+
+	outputStream << "(" << output::String(predicate.name().c_str());
+
+	for (const auto &argument : arguments)
+	{
+		outputStream << ", ";
+
+		if (argument->is<expressions::Constant>())
+		{
+			const auto &constant = argument->as<expressions::Constant>();
+
+			outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
+		}
+		else if (argument->is<expressions::Variable>())
+		{
+			const auto &variable = argument->as<expressions::Variable>();
+
+			outputStream << output::Variable(variable.name().c_str());
+		}
+		else
+			throw output::TranslatorException("only variables and constants supported in predicates currently");
+	}
+
+	outputStream << ")";
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline void translateLiteral(output::ColorStream &outputStream, const Expression &literal)
+{
+	// Translate single predicate
+	if (literal.is<expressions::Predicate>())
+	{
+		const auto &predicate = literal.as<expressions::Predicate>();
+
+		outputStream << output::Keyword("variable") << "(";
+		translation::translatePredicate(outputStream, predicate);
+		outputStream << "), " << output::Keyword("value") << "(";
+		translation::translatePredicate(outputStream, predicate);
+		outputStream << ", " << output::Boolean("true") << ")";
+	}
+	// Assuming that "not" expression may only contain a predicate
+	else if (literal.is<expressions::Not>())
+	{
+		const auto &notExpression = literal.as<expressions::Not>();
+
+		if (notExpression.argument()->expressionType() != Expression::Type::Predicate)
+			throw output::TranslatorException("only negations of primitive predicates supported as literals currently");
+
+		const auto &predicate = notExpression.argument()->as<expressions::Predicate>();
+
+		outputStream << output::Keyword("variable") << "(";
+		translation::translatePredicate(outputStream, predicate);
+		outputStream << "), " << output::Keyword("value") << "(";
+		translation::translatePredicate(outputStream, predicate);
+		outputStream << ", " << output::Boolean("false") << ")";
+	}
+	else if (literal.is<expressions::DerivedPredicate>())
+	{
+		const auto &derivedPredicate = literal.as<expressions::DerivedPredicate>();
+
+		/*m_outputStream << output::Keyword("variable") << "(";
+		translation::translatePredicate(predicate);
+		m_outputStream << "), " << output::Keyword("value") << "(";
+		translation::translatePredicate(predicate);
+		m_outputStream << ", " << output::Boolean("true") << ")";*/
+
+		outputStream << "(derived predicate)";
+	}
+	else
+		throw output::TranslatorException("only primitive predicates and their negations supported as literals currently");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e74262f..209ea8b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -9,6 +9,9 @@ file(GLOB pddl_headers "../include/plasp/pddl/*.h")
 file(GLOB pddl_expressions_sources "plasp/pddl/expressions/*.cpp")
 file(GLOB pddl_expressions_headers "../include/plasp/pddl/expressions/*.h")
 
+file(GLOB pddl_translation_sources "plasp/pddl/translation/*.cpp")
+file(GLOB pddl_translation_headers "../include/plasp/pddl/translation/*.h")
+
 file(GLOB sas_sources "plasp/sas/*.cpp")
 file(GLOB sas_headers "../include/plasp/sas/*.h")
 
@@ -36,6 +39,9 @@ set(sources
 	${pddl_expressions_sources}
 	${pddl_expressions_headers}
 
+	${pddl_translation_sources}
+	${pddl_translation_headers}
+
 	${sas_sources}
 	${sas_headers}
 
diff --git a/src/plasp/pddl/TranslatorASP.cpp b/src/plasp/pddl/TranslatorASP.cpp
index 737f107..0e0a442 100644
--- a/src/plasp/pddl/TranslatorASP.cpp
+++ b/src/plasp/pddl/TranslatorASP.cpp
@@ -7,6 +7,8 @@
 #include <plasp/pddl/expressions/And.h>
 #include <plasp/pddl/expressions/Not.h>
 #include <plasp/pddl/expressions/Predicate.h>
+#include <plasp/pddl/translation/Precondition.h>
+#include <plasp/pddl/translation/Primitives.h>
 
 namespace plasp
 {
@@ -23,8 +25,6 @@ template<class T>
 void translateVariablesHead(output::ColorStream &outputStream, const T &variables);
 template<class T>
 void translateVariablesBody(output::ColorStream &outputStream, const T &variables);
-void translateLiteral(output::ColorStream &outputStream, const Expression &literal);
-void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate);
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -204,43 +204,49 @@ void TranslatorASP::translateDerivedPredicates() const
 
 	const auto &derivedPredicates = m_description.domain().derivedPredicates();
 
-	const auto printDerivedPredicateName =
-		[&](const auto &derivedPredicate)
-		{
-			if (derivedPredicate->parameters().empty())
+	for (const auto &derivedPredicate : derivedPredicates)
+	{
+		const auto printDerivedPredicateName =
+			[&derivedPredicate](output::ColorStream &outputStream)
 			{
-				// TODO: implement
-				//m_outputStream << output::String(derivedPredicate->name().c_str());
-				m_outputStream << "<derived>";
+				outputStream << output::Keyword("derivedVariable") << "(";
 
-				return;
-			}
+				const auto id = derivedPredicate->id();
 
-			// TODO: implement
-			//m_outputStream << output::String(derivedPredicate->name().c_str());
-			m_outputStream << "<derived>";
-			translateVariablesHead(m_outputStream, derivedPredicate->parameters());
-			m_outputStream << ")";
-		};
+				if (derivedPredicate->parameters().empty())
+				{
+					outputStream << output::Number<decltype(id)>(id) << ")";
+					return;
+				}
 
-	std::for_each(derivedPredicates.cbegin(), derivedPredicates.cend(),
-		[&](const auto &predicate)
-		{
-			m_outputStream
-				<< std::endl
-				<< output::Function("variable") << "("
-				<< output::Keyword("derived") << "(";
+				outputStream << "(" << output::Number<decltype(id)>(id);
+				translateVariablesHead(outputStream, derivedPredicate->parameters());
+				outputStream << "))";
+			};
 
-			printDerivedPredicateName(predicate);
+		m_outputStream << std::endl << output::Function("derivedVariable") << "(";
 
-			m_outputStream << "))";
+		printDerivedPredicateName(m_outputStream);
 
-			translateVariablesBody(m_outputStream, predicate->parameters());
+		m_outputStream << ")";
 
-			m_outputStream << ".";
-		});
+		translateVariablesBody(m_outputStream, derivedPredicate->parameters());
 
-	m_outputStream << std::endl;
+		m_outputStream << ".";
+
+		translation::translatePreconditionDisjunction(m_outputStream, "derivedVariable", printDerivedPredicateName, derivedPredicate->preconditions());
+
+		m_outputStream << std::endl;
+	}
+
+	m_outputStream
+		<< std::endl
+		<< output::Function("contains") << "("
+		<< output::Keyword("derivedVariable") << "(" << output::Variable("X") << "), "
+		<< output::Keyword("value") << "(" << output::Variable("X") << ", " << output::Variable("B") << ")) :- "
+		<< output::Function("variable") << "(" << output::Keyword("derivedVariable") << "(" << output::Variable("X") << ")), "
+		<< output::Function("boolean") << "(" << output::Variable("B") << ")."
+		<< std::endl;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -283,7 +289,7 @@ void TranslatorASP::translateActions() const
 
 				m_outputStream << ", ";
 
-				translateLiteral(m_outputStream, literal);
+				translation::translateLiteral(m_outputStream, literal);
 
 				m_outputStream << ") :- " << output::Function("action") << "(";
 
@@ -450,91 +456,6 @@ void translateVariablesBody(output::ColorStream &outputStream, const T &variable
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-void translateLiteral(output::ColorStream &outputStream, const Expression &literal)
-{
-	// Translate single predicate
-	if (literal.is<expressions::Predicate>())
-	{
-		const auto &predicate = literal.as<expressions::Predicate>();
-
-		outputStream << output::Keyword("variable") << "(";
-		translatePredicate(outputStream, predicate);
-		outputStream << "), " << output::Keyword("value") << "(";
-		translatePredicate(outputStream, predicate);
-		outputStream << ", " << output::Boolean("true") << ")";
-	}
-	// Assuming that "not" expression may only contain a predicate
-	else if (literal.is<expressions::Not>())
-	{
-		const auto &notExpression = literal.as<expressions::Not>();
-
-		if (notExpression.argument()->expressionType() != Expression::Type::Predicate)
-			throw output::TranslatorException("only negations of primitive predicates supported as literals currently");
-
-		const auto &predicate = notExpression.argument()->as<expressions::Predicate>();
-
-		outputStream << output::Keyword("variable") << "(";
-		translatePredicate(outputStream, predicate);
-		outputStream << "), " << output::Keyword("value") << "(";
-		translatePredicate(outputStream, predicate);
-		outputStream << ", " << output::Boolean("false") << ")";
-	}
-	else if (literal.is<expressions::DerivedPredicate>())
-	{
-		const auto &derivedPredicate = literal.as<expressions::DerivedPredicate>();
-
-		/*m_outputStream << output::Keyword("variable") << "(";
-		this->translatePredicate(predicate);
-		m_outputStream << "), " << output::Keyword("value") << "(";
-		this->translatePredicate(predicate);
-		m_outputStream << ", " << output::Boolean("true") << ")";*/
-
-		outputStream << "(derived predicate)";
-	}
-	else
-		throw output::TranslatorException("only primitive predicates and their negations supported as literals currently");
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate)
-{
-	const auto &arguments = predicate.arguments();
-
-	if (arguments.empty())
-	{
-		outputStream << output::String(predicate.name().c_str());
-
-		return;
-	}
-
-	outputStream << "(" << output::String(predicate.name().c_str());
-
-	for (const auto &argument : arguments)
-	{
-		outputStream << ", ";
-
-		if (argument->is<expressions::Constant>())
-		{
-			const auto &constant = argument->as<expressions::Constant>();
-
-			outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
-		}
-		else if (argument->is<expressions::Variable>())
-		{
-			const auto &variable = argument->as<expressions::Variable>();
-
-			outputStream << output::Variable(variable.name().c_str());
-		}
-		else
-			throw output::TranslatorException("only variables and constants supported in predicates currently");
-	}
-
-	outputStream << ")";
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
 void TranslatorASP::translateProblem() const
 {
 	BOOST_ASSERT(m_description.containsProblem());
@@ -579,9 +500,9 @@ void TranslatorASP::translateInitialState() const
 			const auto &predicate = fact->as<expressions::Predicate>();
 
 			m_outputStream << output::Keyword("variable") << "(";
-			translatePredicate(m_outputStream, predicate);
+			translation::translatePredicate(m_outputStream, predicate);
 			m_outputStream << "), " << output::Keyword("value") << "(";
-			translatePredicate(m_outputStream, predicate);
+			translation::translatePredicate(m_outputStream, predicate);
 			m_outputStream << ", " << output::Boolean("true") << ")";
 		}
 		// Assuming that "not" expression may only contain a predicate
@@ -625,7 +546,7 @@ void TranslatorASP::translateGoal() const
 	{
 		m_outputStream << std::endl << output::Function("goal") << "(";
 
-		translateLiteral(m_outputStream, goal);
+		translation::translateLiteral(m_outputStream, goal);
 
 		m_outputStream << ").";
 	}
@@ -638,7 +559,7 @@ void TranslatorASP::translateGoal() const
 			{
 				m_outputStream << std::endl << output::Function("goal") << "(";
 
-				translateLiteral(m_outputStream, *argument);
+				translation::translateLiteral(m_outputStream, *argument);
 
 				m_outputStream << ").";
 			});
diff --git a/src/plasp/pddl/expressions/And.cpp b/src/plasp/pddl/expressions/And.cpp
index 77cf11d..38d07c3 100644
--- a/src/plasp/pddl/expressions/And.cpp
+++ b/src/plasp/pddl/expressions/And.cpp
@@ -25,7 +25,7 @@ const std::string And::Identifier = "and";
 
 ExpressionPointer And::decomposed(DerivedPredicates &derivedPredicates)
 {
-	derivedPredicates.emplace_back(new DerivedPredicate());
+	derivedPredicates.emplace_back(new DerivedPredicate(derivedPredicates.size()));
 	auto &derivedPredicate = derivedPredicates.back();
 
 	for (auto &argument : m_arguments)
diff --git a/src/plasp/pddl/expressions/DerivedPredicate.cpp b/src/plasp/pddl/expressions/DerivedPredicate.cpp
index bd88cb3..2decbbe 100644
--- a/src/plasp/pddl/expressions/DerivedPredicate.cpp
+++ b/src/plasp/pddl/expressions/DerivedPredicate.cpp
@@ -16,6 +16,20 @@ namespace expressions
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+DerivedPredicate::DerivedPredicate(size_t id)
+:	m_id{id}
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+size_t DerivedPredicate::id() const
+{
+	return m_id;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 void DerivedPredicate::setPreconditions(std::vector<Expressions> &&preconditions)
 {
 	m_preconditions = std::move(preconditions);
diff --git a/src/plasp/pddl/expressions/Not.cpp b/src/plasp/pddl/expressions/Not.cpp
index d6a9957..fd77570 100644
--- a/src/plasp/pddl/expressions/Not.cpp
+++ b/src/plasp/pddl/expressions/Not.cpp
@@ -107,7 +107,7 @@ ExpressionPointer Not::decomposed(DerivedPredicates &derivedPredicates)
 	if (m_argument->is<Predicate>() || m_argument->is<DerivedPredicate>())
 		return this;
 
-	derivedPredicates.emplace_back(new DerivedPredicate());
+	derivedPredicates.emplace_back(new DerivedPredicate(derivedPredicates.size()));
 	auto &derivedPredicate = derivedPredicates.back();
 
 	// Move this expression’s arguments to the derived predicate
diff --git a/src/plasp/pddl/expressions/Or.cpp b/src/plasp/pddl/expressions/Or.cpp
index 1adc06a..98fc5d6 100644
--- a/src/plasp/pddl/expressions/Or.cpp
+++ b/src/plasp/pddl/expressions/Or.cpp
@@ -23,7 +23,7 @@ const std::string Or::Identifier = "or";
 
 ExpressionPointer Or::decomposed(DerivedPredicates &derivedPredicates)
 {
-	derivedPredicates.emplace_back(new DerivedPredicate());
+	derivedPredicates.emplace_back(new DerivedPredicate(derivedPredicates.size()));
 	auto &derivedPredicate = derivedPredicates.back();
 
 	std::vector<Expressions> preconditions;