Evidence of wheeled vehicles appeared in the mid 4th millennium BC, near-simultaneously in Mesopotamia, the Northern Caucasus (Maykop culture) and Central Europe. The wheel initially took the form of the potter's wheel. The new concept quickly led to wheeled vehicles and mill wheels. The Sumerians' cuneiform writing system is the oldest (or second oldest after the Egyptian hieroglyphs) which has been deciphered (the status of even older inscriptions such as the Jiahu symbols and Tartaria tablets is controversial). The Sumerians were among the first astronomers, mapping the stars into sets of constellations, many of which survived in the zodiac and were also recognized by the ancient Greeks. They were also aware of the five planets that are easily visible to the naked eye.