Our Team


Robin M. Petersen, Esquire

Robin Petersen Melbourne FL Estate Planning AttorneyRobin Petersen is the Founder and Principal of the Estate Planning & Elder Law Center of Brevard. His practice is dedicated exclusively to Elder Law, Estate Planning, Probate and Trust Administration, and Veterans Benefits.

Mr. Petersen takes a personal approach to the practice of law. His extensive experience has taught him that effective plans and sound legal solutions can only be achieved by taking the time to gain a thorough understanding of his clients’ greatest concerns and most cherished goals. As a result of his face-to-face approach and commitment to efficient yet compassionate service, many of Mr. Petersen’s clients have become clients for life.

Mr. Petersen is Board Certified in Elder Law by the American Bar Association. He is also a U.S. Veterans Administration Accredited attorney and admitted to practice before the U.S. Court of Military Appeals. As a former Air Force Captain, U.S. Air Force Legal Officer (JAG), he is uniquely qualified to meet the legal needs of veterans and their families.

A former Assistant Public Defender, Mr. Petersen is listed in Who’s Who in American Law, Florida SuperLawyers, an instructor of law to college students, and a sought-after writer and lecturer. He is also a graduate of the Atlanta Institute of Music.

Mr. Petersen’s memberships and professional associations include:

  • Board Member and Vice-President of the Brevard Chapter of the Florida State Guardianship Association
  • Board member and Vice-President of Space Coast Guardianship Association
  • Former Chairman, Florida Bar 18th Circuit Unlicensed Practice of Law
  • Brevard County Estate Planning Council
  • Charter Member, American Academy of Estate Planning Attorneys (Former Member)
  • National Academy of Elder Law Attorneys
  • Florida Bar Association’s & American Bar Association’s Probate & Estate Planning Sections
  • Brevard County Bar Association
  • Florida Bar Association
  • Virginia Bar Association
  • The American Bar Association
  • Member and Past Secretary, Florida Bar Consumer Protection Committee
  • Secretary/Treasurer and Executive Council Member of the Vassar B. Carlton Inns of Court

Mr. Petersen’s services to the community include:

  • Secretary/Treasurer and Board Member of Hospice of Health First
  • Ex-President and Member of Hospice of Health First Advisory Counsel
  • Town of Indialantic Variance Review Board, Ex-Chairman
  • Board of Trustees, Keep Brevard Beautiful, Former Board Member
  • South Brevard Chamber of Commerce
  • Leadership Brevard
  • Former Vice President, Board of Directors of Red Cross, Vero Beach Chapter
  • Florida Bar Fee Arbitration Committee
  • Founding Board Member, Vero Beach Community Choir

Mr. Petersen earned his Juris Doctorate from the Florida State University College of Law in 1981, where he was a Staff Writer for Florida State University Law Review; Clerk for Circuit Judge J. Lewis Hall of Tallahassee, Florida; Research Assistant to Dean of the Law School; President, Florida State University Chapter of Association of Trial Lawyers of America (ATLA); Associate Justice on University Supreme Court; and Treasurer, Bar Association.

He earned his Bachelor of Science, Cum Laude,  from Florida State University in 1977.

When not practicing law, Mr. Petersen enjoys spending time with his daughter, playing classical guitar, traveling, yoga, martial arts, bicycling, and hiking.

Associate Attorney

Tracy A. Glover, Esquire

Elder Law Center of Brevard

Ms. Glover is a retired Army Lieutenant Colonel with twenty-one years of active duty service in the Military Police and Judge Advocate General’s Corps.  Her extensive military experience working with people from diverse backgrounds, in unique circumstances, has fostered a commitment to providing personal and responsive services to clients and their families.

Ms. Glover welcomes the opportunity to discuss your estate planning, health care, and elder law concerns in order to develop a comprehensive plan that maximizes resources and gives effect to all of your long-term goals.  Her personal approach to each situation allows her to be able to customize each plan to meet the individual’s needs.  No two people are alike, and making sure that your planning meets your needs is her priority.  By planning for the future while you are healthy and able, you give yourself and your loved ones security when illness or tragedy does strike.  Advanced preparation of estate, health care, and elder law documents is an invaluable investment in your quality of life and peace of mind.

Her memberships and professional associations include:

  • Brevard County Bar Association
  • Florida Bar Association
  • Ohio Bar Association
  • The American Bar Association
  • Military Officer Association of America (MOAA)

Ms. Glover earned her Bachelor of Arts in Psychology, graduating Magna Cum Laude, from the State University of New York College at Oswego in 1990.  She received a commission as a Lieutenant in the Military Police Corps from the Reserve Officer Training Program (ROTC) and embarked upon her active duty service career.  After serving successfully as a platoon leader and company commander, Ms. Glover was selected for the Army’s prestigious Funded Legal Education Program (FLEP).  She earned her Juris Doctorate, With Honors, from The Ohio State University Moritz College of Law in 1999, where she served as an intern for Ohio Supreme Court Justice Paul E. Pfeifer in Columbus, Ohio.  She went on to obtain her LL.M (Masters in Law) in Military Law from the U.S. Army Judge Advocate General’s Legal Center and School in 2003.  Following 13 years of service in the Judge Advocate General’s Corp, Ms. Glover retired from the Army and moved to Florida.

When not practicing law, Ms. Glover spends time enjoying the outdoors with her three sons.  She is also a certified personal trainer and instructs physical training bootcamp classes at a local gym.

 Support Staff

Legal Support

Danielle Elder Law of Brevard

Danielle L. Deacon
Estate Planning / Guardianship Paralegal

Deanna L. Dixon
Probate / Trust Administration Paralegal

Brevard County Estate PlanningCassidy V. Petersen

Administrative Support

Elder Law Attorney Indialantic FLKristin C. Whaley
Firm Administrator

Lori Elder Law of BrevardLori G. Wnek
Accounting & Billing Coordinator