Planetary surface studies across a range of spatial scales are key to interpreting modern and ancient operative processes and to meeting strategic mission objectives for robotic planetary science exploration. At the meter-scale and below, planetary regolith conducts heat at a rate that depends on the physical properties of the regolith particles, such as particle size, sorting, composition, and shape. Radiometric temperature measurements thus provide the means to determine regolith properties and rock abundance from afar. However, heat conduction through a matrix of irregular particles is a complicated physical system that is strongly influenced by temperature and atmospheric gas pressure. A series of new regolith thermal conductivity experiments were conducted under realistic planetary surface pressure and temperature conditions. A new model is put forth to describe the radiative, solid, and gaseous conduction terms of regolith on Earth, Mars, and airless bodies. These results will be used to infer particle size distribution from temperature measurements of the primitive asteroid Bennu to aid in OSIRIS-REx sampling site selection. Moving up in scale, fluvial processes are extremely influential in shaping Earth's surface and likely played an influential role on ancient Mars. Amphitheater-headed canyons are found on both planets, but conditions necessary for their development have been debated for many years. A spatial analysis of canyon form distribution with respect to local stratigraphy at the Escalante River and on Tarantula Mesa, Utah, indicates that canyon distribution is most closely related to variations in local rock strata, rather than groundwater spring intensity or climate variations. This implies that amphitheater-headed canyons are not simple markers of groundwater seepage erosion or megaflooding. Finally, at the largest scale, volcanism has significantly altered the surface characteristics of Earth and Mars. A field campaign was conducted in Hawaii to investigate the December 1974 Kilauea lava flow, where it was found that lava coils formed in an analogous manner to those found in Athabasca Valles, Mars. The location and size of the coils may be used as indicators of local effusion rate, viscosity, and crustal thickness.