After the Japanese Invasion of Korea in 1592, correspondents of Chosun called on Japan twelve times, as a mission, from 1607 to 1811. The suite of Chosun Communication Facilities (correspondents) was composed of nearly 500 people including a senior envoy, a junior envoy, other envoyes, and cooks. After preparing traveling expenses, Sifts, foods, medicinal stuffs, and ginseng, they shipped people and freight in three passenger ships and three freighters. They departed from Pusan for Edo(Tokyo). There were 28 stop-overs on their way to Edo and the banquet was given for them at every stop. The arrangements of the table for each banquet were made up of 753 Seon(tables), 3Jeup(soups) and 15Che(dishes). 753Seon(tables) is Ganban(the table for decoration) and a substantial food reception was composed of 3Jeup(soups) and 15Che(dishes). 753Seon(tables) was called Dadopoong(the food of refreshment) style and this was the standard arrangement of the banquet table in Japan. It was comprised of 3Jeup(soups) and 15Che(dishes). On their way from Edo to Thusima Island, food was afforded to correspondents for later preparation and dining. The banquet that the master of Thusima Island gave was composed of the first and second style banquets. The first one was Chusun style and the second one was Japanese style.

Food goods traded between Korea and Japan during the middle period of the Cho Sun era included Insam (Jinseng), rice, beans, honey, perilla oil, starch, adlay, walnuts, pine nuts, jujubes, hazelnuts, and dired chestnuts as exports ; and pepper as imports. The number of Japanese envoies that visited regularly was one thousand five hundred people a year. The receptions that were held for them during the middle period equaled those of the first term of the Cho Sun era, but these receptions were only held in Pu-san. The expense of daily meals was broken down into 8 grades ranging from \129,300 to 2133. The daily meals included Jo-ban (breakfast), Jo-seok-ban (breakfast and dinner), and Ju-jeom-shim (lunch) for the Japanese who visited regularly. During the course of a year, the total amount spent on daily meals was put at a billion won. The banquet style meals included Ha-seon-da-rye (a welcome tea party), Ha-seon-yeon (a welcome banquet), No-cha-yeon (a banquet that was held on the street), and Ye-dan-da-rye (a drink banquet that was held when silk was offered as a gift). It also included Byeol-yeon (a banquet out of the dordinary), Sang-seon-yeon (a farewell banquet), and Myong-il-yeon (a banquet that was held on a national holiday). The banquet style meals were composed of Ceon-tack (to set a table for dinner), Sang-hwa (a flower that was put on the food), Kwan-hwa (to offer a flower when a banquet was held), Ju-9-jan (the ninth wine glass), Dae-seon (meat), music, and Jung-bae-rye (a banquet that was held again after a banquet). The Cho Sun government held banquets forty five times for the Japanese, the food expense for the banquets was put at two hundred and thirty million won.

Food goods traded between Korea and Japan during the first term of the Cho Sun era included Omija (fruit of the Maximowiczia chinensis), Jat (pine nuts), Insam (Jinseng), rice, and beans as exports ; and pepper, sugar, and medicinal stuffs as imports. The trade between Korea and Japan was a result of Japanese envoies' visiting. The official number of Japanese envoies who had exchanges with Koreans were two thousand people a year. Once the Japanese entered Korea, they did not need to pay for their living expenses for the length of their visit because the Cho Sun government bore the whole expense. The Cho Sun government gave formal receptions to them, which included daily meals as well as banquet style meals. The daily meals included Jo-ban (breakfast), Jo-seok-ban (breakfast and dinner), and Ju-jeom-sim (lunch). Meals were served four times a day. The banquet style meals included Sam-po-yeon (a banquet that was held in Sam-po), Kyong-joong-young-jeon-yeon (a farewell banquet, and a welcome banquet that was held in Seoul), Jyu-bong-bae (to offer a guest a drink by day), No-yeon (a banquet that was held on the street), Kwol-nae-yeon (a banquet that was held within the Royal Court). It also included Ye-jo-yeon (a banquet that was held in Ye-jo), and Myong-il-yeon (a banquet that was held on a national holiday). The banquet style meals were composed of Ceon-tack (to set a table for dinner), Sang-hwa (a flower that was put on the food), Kwan-hwa (to offer a flower when a banquet was held), Ju-5-jan (the fifth wine glass), Dae-seon (meat), and music.

We propose a optimal fusion method for localization of multiple robots utilizing correlation between GPS on each robot in common workspace. Each mobile robot in group collects position data from each odometer and GPS receiver and shares the position data with other robots. Then each robot utilizes position data of other robot for obtaining more precise estimation of own position. Because GPS data errors in common workspace have a close correlation, they contribute to improve localization accuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometer and GPS through virtual robots and position data.