diff --git a/include/plasp/utils/Parsing.h b/include/plasp/utils/Parsing.h
index bf445f4..2641541 100644
--- a/include/plasp/utils/Parsing.h
+++ b/include/plasp/utils/Parsing.h
@@ -1,12 +1,15 @@
 #ifndef __UTILS__PARSING_H
 #define __UTILS__PARSING_H
 
+#include <algorithm>
 #include <exception>
 #include <iosfwd>
 #include <sstream>
 #include <string>
 #include <typeinfo>
 
+#include <boost/algorithm/string/replace.hpp>
+
 #include <plasp/utils/ParserException.h>
 
 namespace plasp
@@ -56,6 +59,30 @@ void parseExpected(std::istream &istream, const T &expectedValue)
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+inline std::string escapeASP(const std::string &string)
+{
+	auto escaped = string;
+
+	boost::replace_all(escaped, "_", "__");
+	boost::replace_all(escaped, "-", "_h");
+
+	return escaped;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline std::string unescapeASP(const std::string &string)
+{
+	auto unescaped = string;
+
+	boost::replace_all(unescaped, "_h", "-");
+	boost::replace_all(unescaped, "__", "_");
+
+	return unescaped;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 }
 }
 
diff --git a/src/plasp/sas/Predicate.cpp b/src/plasp/sas/Predicate.cpp
index d506276..7536a89 100644
--- a/src/plasp/sas/Predicate.cpp
+++ b/src/plasp/sas/Predicate.cpp
@@ -85,18 +85,18 @@ void Predicate::printAsASP(std::ostream &ostream) const
 {
 	if (m_arguments.empty())
 	{
-		ostream << m_name;
+		ostream << utils::escapeASP(m_name);
 		return;
 	}
 
-	ostream << m_name << "(";
+	ostream << utils::escapeASP(m_name) << "(";
 
 	for (size_t i = 0; i < m_arguments.size(); i++)
 	{
 		if (i > 0)
 			ostream << ", ";
 
-		ostream << m_arguments[i];
+		ostream << utils::escapeASP(m_arguments[i]);
 	}
 
 	ostream << ")";
diff --git a/src/plasp/sas/Value.cpp b/src/plasp/sas/Value.cpp
index 80f52bc..2cf91c7 100644
--- a/src/plasp/sas/Value.cpp
+++ b/src/plasp/sas/Value.cpp
@@ -108,14 +108,14 @@ void Value::printAsASP(std::ostream &ostream) const
 	if (m_sign == Value::Sign::Negative)
 		ostream << "not ";
 
-	ostream << m_name;
+	ostream << utils::escapeASP(m_name);
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
 void Value::printAsASPCommaSeparated(std::ostream &ostream) const
 {
-	ostream << m_name << ", " << (m_sign == Sign::Positive ? "true" : "false");
+	ostream << utils::escapeASP(m_name) << ", " << (m_sign == Sign::Positive ? "true" : "false");
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/tests/TestUtils.cpp b/tests/TestUtils.cpp
new file mode 100644
index 0000000..d96b84a
--- /dev/null
+++ b/tests/TestUtils.cpp
@@ -0,0 +1,16 @@
+#include <gtest/gtest.h>
+
+#include <plasp/utils/Parsing.h>
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+TEST(UtilsTests, EscapeASP)
+{
+	const std::string predicate = "action(stack_on(block-1, block-2))";
+
+	const auto escaped = plasp::utils::escapeASP(predicate);
+	const auto unescaped = plasp::utils::unescapeASP(escaped);
+
+	ASSERT_EQ(escaped.find("-"), std::string::npos);
+	ASSERT_EQ(predicate, unescaped);
+}