Here is my attempt to check my idea that the surface gravity of a planet might determine its scale height.
Other factors which might possibly determine the scale height of a planet are the density of the atmosphereas a whole, the different gases it is composed of, and the temperatures in the atmosphere, etc..
So I take the surface gravities in meters per second per second (m/s2) from this list:
https://en.wikipedia.org/wiki/List_of_Solar_System_objects_by_size
And the scale heights from this list:
https://en.wikipedia.org/wiki/Scale_height#Planetary_examples
For comparison, Earth's surface gravity is 9.80 m/s2, and scale height is 8.5 kilometers (km).
Jupiter surface gravity 24.79 m/s2, 2.529 Earth's, and scale height is 27 km, 3.176 Earth's.
Neptune surface gravity 11.15 m/s2, 1.137 Earth's, & scale height 19.1-20.3 km, 2.247-2.388 Earth's.
Saturn surface gravity 10.44 m/s2, 1.065 Earth's, & scale height 59.5 km, 7 Earth's.
Earth surface gravity 9.80 m/s2, 1 Earth's, & scale height 8.5 km, 1 Earth's.
Uranus surface gravity 8.87 m/s2, 0.905 Earth's, & scale height 27.7 km, 3.258 Earth's.
Venus surface gravity 8.87 m/s2, 0.905 Earth's, & scale height 18.9 km, 2.223 Earth's.
Mars surface gravity 3.71 m/s2, 0.378 Earth's, & scale height 11.1 km, 1.132 Earth's.
Titan surface gravity 1.534 m/s2, 0.156 Earth's, & scale height 21 km, 2.470 Earth's.
Pluto surface gravity 0.620 m/s2, 0.063 Earth's, & scale height about 50 km, about 5.108 Earth's.
Triton surface gravity 0.782 m/s2, 0.078 Earth's, but its scale height is unknown to me.
I see that theplanets can't all have the same relationship between surface gravity and scale height. Uranus and Venus have the same surface gravity but the scale height of Uranus's atmosphere is much higher than that of Venus.
But if the worlds are divided into four sets of similar worlds, the concept that scale height increases with decreasing surface gravity seems mostly correct.
It is correct with the two gas giants Jupiter and Saturn, and with the two ice giants Uranus and Neptune, and hte two small mixed icey and rocky worlds in the outer solar system, Titan and Pluto.
In the case of the Earth like planets, Mercury doesn't have a significant atmosphere, and Venus has a much highter scale height than is proprtional to its surface gravity, only slightly less than Earth's.. The scale heights of Earth and Mars fit the pattern of increasing scale height with decreasing surface gravity.
And it is possible that the scale heights of Earth and Mars fit on the same curve as the scale heights of Titan and Pluto.
So possibly the scale height depends mostly on the surface gravity within worlds of a specific type, though not between worlds of different types, with Venus being a notable exceptionw within its type.