There is a Robert Nicholson and family in Kent County in 1850 including a son named Robert G. Nicholson. Could the "G" stand for Goldsborough? No, another source gives his name as Robert "Gleason" Nicholson. This Robert NIcholson (head of household) was born about 1816 which would fit as the 4th child of Joseph Hopper NIcholson and Charlotte Gibson. However, I have no proof of this.
Father: Joseph Hopper NICHOLSON b: 1777 in Chestertown, Kent County, Maryland
Mother: Charlotte GIBSON b: BEF 1787 in Queen Anne's County, Maryland