[robots] that replace people, whose income is taxed – can themselves be taxed, so that governments can redistribute the money to its unemployed citizens, thus giving them a basic income...
First of all, businesses don't exist to pay tax, it being just another expense. They will twist and turn to avoid it, basing themselves in the Seychelles, the Cayman Isles, Panama and any other nation-state where such onerous and unwanted taxes are not raised."
Where the person being replaced is being replaced outside of the country it doesn't really matter whether it's a robot or an outsourced human worker doing the replacement from the tax point of view. For some tasks external replacement wouldn't be possible anyway - the robot barista vending machine needs to be in reach of the customer. If its work is to be taxed it can be taxed at its location.
But the line of argument in the article seems to assume corporation tax. Where multinationals are concerned corporation tax always favours small countries with a small local tax base. They can attract what are effectively accommodation addresses by offering competitive tax rates that bring in much greater receipts than could be achieved by the most swingeing rates on local businesses - and the local businesses then have the additional advantages of paying low rates themselves.
If corporation tax is failing the objectives of most countries then maybe the time has come to look at an alternative or at least a partial replacement. Tax all money, credit or other proxy for money, leaving the country. That way it gets taxed before it reaches the tax haven. It also replaces import duties as the money leaving the country to pay for the imports is what gets taxed.