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If dark matter is efficiently captured by a planet, energy released in itsannihilation can exceed that planet's total heat output. Building on priorwork, we treat Earth's composition and dark matter capture in detail andpresent improved limits on dark matter-nucleon scattering cross sections fordark matter masses ranging from 0.1 to $10^{10}$ GeV. We also extend Earthlimits by applying the same treatment to Mars. The scope of dark matter modelsconsidered is expanded to include spin-dependent nuclear interactions includingisospin-independent, proton only, and neutron only interactions. We find thatEarth and Mars heating bounds are alleviated for dark matter s-waveself-annihilation cross sections $\lesssim 10^{-44}~{\rm cm^2}$.

Terrestrial and Martian Heat Flow Limits on Dark Matter