A serving system using a robot may include a caller mounted on each of a plurality of tables, and a robot driving to a target table among the plurality of tables based on information received from the caller, and the robot may store information on the location of each of the plurality of callers, the size and shape of each of the plurality of tables, the location of the caller mounted on the table, and the rotational angle with respect to a baseline of the caller, and the caller may transmit to the robot information on the distance from the caller to the robot and the direction of the robot with respect to the caller during driving of the robot.