- Nicolaus Copernicus proposed the heliocentric model where planets orbit the Sun, but he assumed the orbits were perfect circles. - Galileo Galilei provided telescopic observations that supported the heliocentric model but did not discover elliptical orbits. - Johannes Kepler, using the detailed astronomical data collected by Tycho Brahe, formulated his three laws of planetary motion between 1609 and 1619. - Kepler's First Law states that the orbit of a planet is an ellipse with the Sun at one of the two foci.