Process discovery is a technique that allows for automatically discovering a process model from recorded executions of a process as it happens in reality. This technique has successfully been applied for classical processes where one process execution is constituted by a single case with a unique case identifier. Data-centric and artifact-centric systems such as ERP systems violate this assumption. Here a process execution is driven by process data having various notions of interrelated identifiers that distinguish the various interrelated data objects of the process. Classical process mining techniques fail in this setting. This paper presents an automatic technique for discovering for each notion of data object in the process a separate p...