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Existing techniques for automated discovery of process models from event logs generally produce flat process models. Thus, they fail to exploit the notion of subprocess as well as error handling and repetition constructs provided by contemporary process modeling notations, such as the Business Process Model and Notation (BPMN). This paper presents a technique, namely BPMN Miner, for automated discovery of hierarchical BPMN models containing interrupting and non-interrupting boundary events and activity markers. The technique employs approximate functional and inclusion dependency discovery techniques in order to elicit a process–subprocess hierarchy from the event log. Given this hierarchy and the projected logs associated to each node in the hierarchy, parent process and subprocess models are discovered using existing techniques for flat process model discovery. Finally, the resulting models …