What offense has Robert committed by taking Brittany home without her guardian's consent?

The correct choice is Interference with rights of guardian of the person, which applies to situations where an individual takes a child away from their legal guardian without consent. This offense recognizes the importance of a guardian’s legal rights and authority over a minor. In this scenario, Robert's action of taking Brittany home without her guardian's permission directly interferes with the guardian's legal rights, making it a violation of the law.

This offense is particularly serious because it emphasizes the protection of minors and the role of guardians in making decisions for their well-being. The law acknowledges that guardians have the duty to care for and make decisions in the best interest of their charges, and any action that undermines this responsibility can lead to legal consequences.

Other potential offenses listed may involve elements of harm or coercive action. However, in this context, the focus is solely on the legal infringement regarding guardianship rights rather than physical harm or danger, which makes interference with rights of guardian of the person the most appropriate classification of Robert's actions.