Many real world systems evolve asynchronously in continuous time, for examplecomputer networks, sensor networks, mobile robots, and cellular metabolisms.Continuous time Bayesian Networks (CTBNs) model such stochastic systems incontinuous time using graphs to represent conditional independencies amongdiscrete-valued processes. Exact inference in a CTBN is often intractable as thestate space of the dynamic system grows exponentially with the number ofvariables.In this dissertation, we first focus on approximate inference in CTBNs. Wepresent an approximate inference algorithm based on importance sampling. Unlikeother approximate inference algorithms for CTBNs, our importance samplingalgorithm does not depend on complex computations, since our ...