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Desert planets were planets which consisted primarily of desert terrain. Several planets visited by the Doctor were deserts planets, notably Kaldor, Colophos, Androzani Minor and Segonax. (TV: The Robots of Death, AUDIO: Last of the Colophon, TV: The Caves of Androzani, The Greatest Show in the Galaxy)
Not all desert planets formed naturally; some planets, such as San Helios, were transformed into desert worlds as a result of alien intervention. (TV: Planet of the Dead)
Due to a stellar incident, Aridius' orbit around its suns transformed the planet into a desert over a thousand years. It was once an ocean world. (TV: The Chase)