Temporal Planning with concurrent actions is EXPSPACE-complete, as shown in
J. Rintanen, “Complexity of Concurrent Temporal Planning,” Proceedings
of the 17th International Conference on Automated Planning and
Scheduling, pp. 280–287, 2007
The problem is roughly the following (beware in the paper above it is defined in a different but equivalent way). Let $A$ be a finite set of propositional variables and $O$ a finite set of actions, where each action is $o=(d,P_s,P_e,P_o,E_s,E_e)$, where:
- $d\in\mathbb{N}$ is the time duration of the action.
- $P_s$, $P_e$ and $P_o$ are the action preconditions, which are
propositional formulae over $A$ that must be true respectively at the
beginning, at the end, and over all the execution of the action for it to
be applicable.
- $E_s$ and $E_e$ are sets of literals over $A$ which specify the
begin and end effects (i.e., how the action affects the state
variables).
The problem is, given a valuation of the state variables $I$ that describes the initial state, and a propositional formula $G$ that describes the goal condition, to find if there exist a way of arranging actions, possibly overlapping in time, such that, if applied from $I$, lead to a state where $G$ holds.
Note that following the proof one might argue that the EXPSPACE-completeness comes again from the succinctness of the $d$ numeric input (but not only that, anyway), but a unary input would be very unnatural, so I feel this is a problem which is naturally EXPSPACE-complete.