The ancient Greeks observed that objects in the sky seemed to move in circles around the Earth, leading to the geocentric model where the Earth is at the center of the universe. Ptolemy refined earlier Greek astronomical models, proposing that planets moved in smaller circles within larger circles, called the Ptolemaic model. This view persisted for over 1500 years until Copernicus and Galileo proposed the heliocentric model, which placed the Sun at the center. Today we recognize our Solar System formed from a collapsing cloud of gas and dust around the Sun, resulting in terrestrial, rocky planets near the Sun and larger gaseous Jovian planets farther out.