I recently encountered a similar issue. Upon investigation we saw in Windows Event Viewer that the “UiPath Orchestrator” application pool was crashing. This is the event we were seeing in Windows Event Viewer.
If you are seeing a similar error and you have Microsoft SCOM Agent installed on the same machine then maybe you are encountering the same problem we did. The resolution to that problem was to reinstall the Microsoft SCOM Agent with the NOAPM switch.