Printers shared in OS X 10.9, 10.10 or 10.11 randomly stop being accessible from remote computers. The system log reports that the cupsd process was terminated by memorystatus_thread:

Oct 26 07:14:33 robert kernel[0]: memorystatus_thread: idle exiting pid 4901 [cupsd]

This can also manually be triggered by executing sudo launchctl stop org.cups.cupsd.plist and manually and temporarily fixed by executing sudo launchctl start org.cups.cupsd.plist.

As a workaround, you can edit the CUPS LaunchDaemon to restart whenever a remote computer attempts to connect. On 10.9 or 10.10:

sudo /usr/libexec/PlistBuddy -c "Delete Sockets:Listeners:0:SockNodeName" /System/Library/LaunchDaemons/org.cups.cupsd.plist
sudo /usr/libexec/PlistBuddy -c "Delete Sockets:Listeners:1:SockNodeName" /System/Library/LaunchDaemons/org.cups.cupsd.plist
sudo launchctl unload /System/Library/LaunchDaemons/org.cups.cupsd.plist
sudo launchctl load /System/Library/LaunchDaemons/org.cups.cupsd.plist

On 10.11, first disable System Integrity Protection in Recovery mode, then run

sudo /usr/libexec/PlistBuddy -c "Add Sockets:Listeners:1 Dict" /System/Library/LaunchDaemons/org.cups.cupsd.plist/org.cups.cupsd.plist
sudo /usr/libexec/PlistBuddy -c "Add Sockets:Listeners:1:SockServiceName String" /System/Library/LaunchDaemons/org.cups.cupsd.plist/org.cups.cupsd.plist
sudo /usr/libexec/PlistBuddy -c "Set Sockets:Listeners:1:SockServiceName ipp "/System/Library/LaunchDaemons/org.cups.cupsd.plist/org.cups.cupsd.plist
sudo launchctl unload /System/Library/LaunchDaemons/org.cups.cupsd.plist
sudo launchctl load /System/Library/LaunchDaemons/org.cups.cupsd.plist