The parser could be generalized to cover MCFGs, as defined by Seki. These generalize CFGs (for which the yield of a rule is a string of terminal symbols) to the case where the yield of a rule is a tuple of strings of terminal symbols. Since the grammar describes sets of strings, S (the distinguished sentence symbol) is constrained to produce a 1-tuple of strings.
The most recent work on parsing these formalisms focuses attention on Linear Context-Free Rewriting Systems. There is an IWPT 2013 paper:
Andreas van Cranenburgh, Rens Bod (2013).
Discontinuous Parsing with an Efficient and Accurate DOP Model
Proceedings of the International Conference on Parsing Technologies, Nara, Japan, 27-29 November.
and a CL journal article:
Laura Kallmeyer and Wolfgang Maier (2013): *Data-driven Parsing using Probabilistic Linear Context-Free Rewriting Systems." Computational Linguistics, 39(1).
Both of these have associated software.