Mathematical concepts are discovered; the symbols used to represent them are not discovered. The symbols are used by convention and habit; certain symbols become universally recognizable as representing certain concepts. The idea was known to the ancients in several different cultures like Egypt, although it was not calculated with accuracy. Archimedes was the first to rigorously estimate it. See link.
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Pi.
Pi as a mathematical symbol was introduced by William Jones in 1706
Maurits Escher was a remarkable Swiss mathematician and teacher that was responsible for instituting the use of the symbol pi in mathematical notation.
Euler
Lindemann