The panic appears to be an assert in Apple code. An assert is a bit of code that says "The code expects to see a specific condition at this point in the code, and if that condition is not found, panic the kernel, as it is unsafe to continue".
Generally speaking the macOS kernel does not panic on its own. However you have added kernel code via the following kernel extensions
Kernel Extensions:
/Applications/Avast.app
AvastFileShield.kext (4.0.0 - SDK 10.12)
AvastPacketForwarder.kext (2.1 - SDK 10.12)
/Applications/Tunnelblick.app
tap-notarized.kext (20141104 (Tunnelblick build 5300))
tun-notarized.kext (20141104 (Tunnelblick build 5300))
/Library/Application Support/Citrix Receiver
CitrixGUSB.kext (19.6.0 - SDK 10.9)
/System/Library/Extensions
LfConnectDriver.kext (1.16.4 - SDK 10.9)
There is a chance that one of these kernel extensions is playing with kernel data structures and creating a situation were that programming assert will be false and trigger a kernel panic.
Tradition also says the anti-virus is the most likely candidate because they often bypass official kernel extension 3rd party interfaces and just reach into the kernel anywhere they find it useful.
You can start by removing any and off of the 3rd party kernel extensions listed above.
Of you know know that within a given period of time the panic happens, you can boot into Safe mode, and run that way for a longer period of time to see if the problem goes away, which would be another indication that there is a problem with a 3rd party kernel extension
http://support.apple.com/kb/ht1564
This will not load any 3rd party additions, it will load some more conservative Apple drivers (may cause screen flicker), and it will clear some kernel caches (a cache is saved data in a form that can speed up a program, but is totally redundant to the original source, and thus can be safely cleared). Booting into Safe mode is just an experiment, but can frequently eliminate any 3rd party interference, or a cached item out-of-sync with the world. (Verify Safe mode via Applications -> Utilities -> System Information -> Software -> Boot Mode -> Safe vs Normal)