Rogue Galaxy Quarry: The Tower Matador
The closest save to teleport to is the 2nd tower 6th floor. From here you'll want to take the elevator up and then you'll head towards the 7th floor. You'll eventually hit the circle to initiate the fight. The circle is in the "outside" area so you honestly can't miss it. I forgot to take a screenshot so my written directions will have to do, luckily though this is an extremely easy one to find.
The item you'll need to summon this boss is the Perfect Reviver. These can be obtained from rare occasions throughout the game, usually boss fights. Hopefully you haven't been using them, if you have you may need to wait until one of the final chapters to do this quarry.