In the beginning we review briefly the evolution of the ideas on the motion of the bodies in our solar system, from Newton's clockwork Universe to the presently accepted ubiquity of chaotic transport in the asteroid belt. Then we discuss the result of chaotic motion, which is transport in phase space, and we introduce the concept of diffusion of an asteroid in action space. We proceed by reviewing recent work on numerical as well as analytical study of asteroids following chaotic trajectories and we summarize the main results. We present several applications of the theoretical modelling of asteroid motion as diffusion in action space, to problems of specific interest.To search for other articles by the author(s) go to: http://adsabs.harvard.edu/abstract_service.html