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Desperus was an Earth prison planet in the 41st century where internees were dumped to fend for themselves or die. As Bret Vyon said, the only ships that stopped there were prison ships from Earth. There were no guards or prison warders. The First Doctor crashed there on the Spar while trying to stop the Daleks' master plan. They took off again, although not before they had picked up a stowaway, Kirksen. (DW: The Daleks' Master Plan)