There should be a noted event in the Console logs from the time it occurred.
The actual restart is a curious happening, from a sleep state to some event
that was seen as a need to restart, may invite a look into a kernel panic or
other issue. If your Firewall in the system (the OS X firewall in security) is set
to not allow any uninitiated contact with your computer, it shouldn't see an
outside source as a reason to wake up and restart.
There are times where some of my computers wake up (since they are left
to sleep) due to some localized occurrence such as a interference from an
item using the same wireless band the wi-fi occupies; or since mine are
protected from power fluctuation by UPS, it may sense a change of voltage
and engage the battery; thus it would wake up... Or if I come into a room in
with certain outer jacket of fabric known to make static, the static discharge
will wake the computer(s) in the room. Not all. But not restart any.
And then there's this:
•About Wake on Demand and Bonjour Sleep Proxy - Apple Support
So the Console logs and other settings in your system should be checked.
However, the finding of information there does not help me; perhaps some
one who is able to read the Console and command-line logs will assist you.
Once in a blue moon, a kitty will become keyboard-inspired, to restart a Mac.
Good luck & happy computing! 🙂