Robert Anton Wilson, who sometimes described himself as a libertarian who didn't hate poor people, was quite interested in the UBI, or the Universal Basic Income, the idea that the government would guarantee a certain level of income for everyone, largely replacing other welfare programs.
There's a new book out about the UBI: Universal Basic Income: What Everyone Needs to Know, by Matt Zwolinksi and Miranda Perry Fletcher. It's endorsed by UBI proponent Andrew Yang: "A complete, thorough, and practical breakdown of UBI. Whether you're a supporter or a skeptic, Zwolinski and Fleischer's work is a must-read."
Here is an excerpt on the difference between the UBI and a negative income tax (another idea RAW was interested in). Also from the book: Four arguments against a UBI, and here are six arguments for a UBI.