You just have to stay on the move, and I'd recommend using a void fusion rifle (or any element, but void will help with the minotaur shields) to disintegrate them so they don't explode. You could also use Lorentz Driver for extra boss damage if you're having a hard time getting heavy to drop. Even with ammo finder mods, heavy drops seem to be extremely rare for me. On our team, we usually have one person dedicated to keeping boss aggro and behind the door while the other 2 complete the circuits, but sometimes it just works out to one for boss aggro, one for add clear, and one for circuits.