The Jupiter and Icy Moons Explorer (JUICE) mission of the European Space Agency (ESA) will investigate the Jovian system with multiple instruments over several years, beginning in early 2031. This paper describes the historical context and state of knowledge, as well as JUICE’s scientific goals and measurement techniques of the satellites that will not be encountered in close flybys. These include the large volcanically active moon Io, the four small inner moons Metis, Adrastea, Amalthea, and Thebe, and the numerous small Irregular (outer) moons. JUICE will provide multiple opportunities to observe Io from relatively remote distances of hundreds of thousands of kilometers. These observations will enable monitoring of Io’s surface for changes, and for the study of its neutral clouds and plasma torus. Io observations will be performed with the four optical remote sensing instruments and with the Particle Environment Package. For the small inner moons it is planned to obtain complete geographic longitude (scales up to 8 km/px), solar-phase and multi-color coverage, oblique polar views, and UV to near-IR spectra. Astrometric measurements will also be performed. The Irregular moons will mostly appear unresolved to the JUICE instruments. Nonetheless, long-duration disk-integrated lightcurves will be acquired to derive rotation periods, object dimensions, pole-axis orientations, and colors for most objects for the first time. From these data, convex-shape models will be generated and phase curves determined. Furthermore, the precision of the orbital elements will be improved via accurate astrometry. UV and near-IR measurements will be attempted for the largest of these objects.

We present the state of the art on the study of surfaces and tenuous atmospheres of the icy Galilean satellites Ganymede, Europa and Callisto, from past and ongoing space exploration conducted with several spacecraft to recent telescopic observations, and we show how the ESA JUICE mission plans to explore these surfaces and atmospheres in detail with its scientific payload. The surface geology of the moons is the main evidence of their evolution and reflects the internal heating provided by tidal interactions. Surface composition is the result of endogenous and exogenous processes, with the former providing valuable information about the potential composition of shallow subsurface liquid pockets, possibly connected to deeper oceans. Finally, the icy Galilean moons have tenuous atmospheres that arise from charged particle sputtering affecting their surfaces. In the case of Europa, plumes of water vapour have also been reported, whose phenomenology at present is poorly understood and requires future close exploration. In the three main sections of the article, we discuss these topics, highlighting the key scientific objectives and investigations to be achieved by JUICE. Based on a recent predicted trajectory, we also show potential coverage maps and other examples of reference measurements. The scientific discussion and observation planning presented here are the outcome of the JUICE Working Group 2 (WG2): “Surfaces and Near-surface Exospheres of the Satellites, dust and rings”.