Robert Stephenson Smyth Baden-Powell, 1st Baron Baden-Powell (22 February 1857 – 8 January 1941), was a British Army officer, writer, author of Scouting for Boys and was founder and first Chief Scout of The Boy Scouts Association and founder of the Girl Guides.
After realizing that both he and Carter Pewterschmidt were used by Tricia Takanawa in "Carter and Tricia", Peter sets out to prove that she is a bigger fraud than Robert Baden-Powell, who is shown in a cutaway gag using otherwise normal scouting activities in what is projected as a pretense for pedophilia to a suspicious mother.
Baden-Powell is voiced by Seth MacFarlane.