The concept that uniform motion is possible when no frictional forces oppose is closely related to the law of inertia.
While Isaac Newton formalized the law of inertia as his first law of motion, the groundwork for this concept was laid by Galileo Galilei.
Galileo's experiments with inclined planes led him to conclude that an object in motion would continue in motion with constant velocity unless acted upon by a force, such as friction.
Aristotle, in contrast, believed that a force was always necessary to maintain motion.
Newton built upon Galileo's ideas to formulate his laws of motion.
Copernicus is known for his heliocentric model of the solar system.
Therefore, the concept that uniform motion is possible when no frictional forces oppose is attributed to Galileo.