Our Team


Robin M. Petersen, Esquire

Robin Petersen Melbourne FL Estate Planning AttorneyRobin Petersen is the Founder and Managing Partner of the Estate Planning & Elder Law Center of Brevard, which has been serving Brevard County since 1991.  The practice focuses exclusively in the areas of Estate Planning and Elder Law, Wills and Trusts, Probate and Trust Administration (representing the executor or trustee, as well as serving as the executor or trustee of the estate), Guardianship, planning for long term care costs through asset protection, the use of VA Aid & Attendance, and Medicaid benefit options.  Because he has dedicated over 25 years of practice to these types of law, Robin understands that effective plans and solutions can only be achieved by taking the time to listen and gain a thorough understanding of every clients’ needs, concerns, family situations, and overall goals.

      After graduating with his Juris Doctor from Florida State University’s College of Law in 1981, Robin obtained his license to practice law in Florida and before the U.S. Court of Military Appeals.  Greatly influenced by his parents’ service in World War II, and as a self-certified military brat, he joined the Air Force, where he proudly served as a legal officer (JAG).

      After leaving the Air Force, Robin worked as an assistant public defender.  However, the memory of watching his father’s family fall apart as they feuded endlessly over his grandparent’s estate because of an unclear Will ultimately led him to open his own practice, the Estate Planning & Elder Law Center of Brevard.

     To ensure that he could provide sage counsel to those who sought his services, Robin obtained his certification as an Elder Law Attorney through the National Elder Law Foundation, an American Bar Association accredited foundation.  He is also a U.S. Veterans Administration Accredited Attorney, believing “We have a responsibility to make sure our veterans and their families receive the advice and long term care assistance they’ve earned and that they deserve”.  The desire to continually learn and grow in the field is the catalyst for him returning to the [virtual] classroom to obtain his LL.M (Master of Laws, a post doctorate advanced degree) in Advocacy at Stetson College of Law.

      Because of his reputation and continual desire expand his horizons, Robin has achieved a rating of 10, the highest rating a lawyer can receive, from AVVO, one of the top websites for finding a lawyer.  In addition, he is listed in Who’s Who in American Law, Florida Super Lawyers, has instructed at the college level, hosts monthly seminars on topics related to Estate Planning and Elder Law, and most recently has co-authored the book, Elder Law Strategies in Florida.

      When not practicing law or participating in the multiple professional and community associations he is involved in, Robin enjoys spending time with his daughter, traveling, learning to play the piano, bicycling, and tennis.

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.

Support Staff

Legal Support

Danielle Elder Law of Brevard

Danielle L. Deacon: Estate Planning / Guardianship Paralegal

Lesley Lang: Probate / Trust Administration Paralegal









Administrative Support

Matthew D. Gough

Mr. Gough is a retired Non-Commissioned Officer with twenty years of Active Duty service in the United States Air Force. During Mr. Gough’s 20-year career, he served as Health Care Administrator for eight different Medical Facilities spanning across 5 continental States and 3 overseas contingencies. His extensive background in management and personnel operations has allowed him to transition over to the position of Law Firm Administrator. His devotion, personal touch and community outreach is a direct reflection of the exceptionally detailed service that we provide our clients.

Mr. Gough enjoys spending time with his son and family when away from the Firm. Additionally, he has a passion for baseball, football and surfing.

Jazmine Rodriguez –
Accounting & Billing Coordinator