His citation in the London Gazette reads:
For most conspicuous bravery, initiative and devotion to duty during the attack on Ledeghem on 1st October 1918, when in command of an 18 pounder gun working in close conjunction with infantry. He brought his gun into action in the most exposed positions on four separate occasions, and disposed of enemy machine guns by firing over open sights under direct machine gun fire at 500 to 600 yards range. Later, seeing that the infantry were being driven back by intense hostile fire, he, without hesitation, galloped his gun in front of the leading infantry, and on two occasions knocked out enemy machine guns which were causing the trouble. His disregard of personal safety and dash were a magnificent example to the wavering line, which rallied and re-took the northern end of the village.
Robert was born in Southsea on the 6th May 1896, to Harvey Vaughan, Lieutenant 12th Coy, Portsmouth, Army Service Corps (later Major DSO) and Ethel Catherine. He was educated at The Wells House, Malvern, Wells and Rugby and emigrated to Africa before the beginning of WW1. After the war he returned to Northern Rhodesia and was employed as a librarian and in 1929 the family moved to Southern Rhodesia where he was a Sergeant-at-Arms and librarian to the Legislative Council of Southern Rhodesia. In 1924 he married Ruth, they had a son Timothy and a daughter Drucilla. Robert passed away on 9th January 1937.