ROBERT S. MILLER was born in Pennsylvania in 1849 to Peter and Mary J. Miller. The 1860 Census shows the family living in what was then Union Township, in an area serviced by the Gloucester City post office. When the census was taken in 1870 the family was living in Newton Township, which was annexed to Camden in 1871. Robert S. Miller was working as a laborer at the time of the Census. 

The 1880 Census shows Robert and Annie Miller living at 515 Division Street with their children Robert, Annie, and William. Robert Miller was living at that address when, on April 5, 1882 he was appointed to the Camden Fire Department to serve as an extra man with the Hook & Ladder Company, replacing Amedee Middleton. Robert Miller served with the Fire Department for two years, then was replaced by Isaac Lovett Jr.

Robert Miller and his family had moved to 729 Chestnut Street by the time the 1884-1885 Camden City Directory was compiled. He was then working at the gas plant in South Camden. His mother, Mary J. Miller, is listed at that address in the 1887-1888 City Directory. Robert Miller, however is not listed in that directory. 

What became of Robert Miller after 1884 is a matter of question as of this writing, as there were several men named Robert Miller living in Camden in the 1880s and 1890s. Unfortunately, as of this writing, evidence is not at hand to determine what became of Robert S. Miller who served with the Camden Fire Department.