Using the Python pygeos package to show the error (from pygeos/pygeos#134):

# creating a MultiPoint with that includes an empty Point
import pygeos

point = pygeos.points(1,1)  
box = pygeos.box(2,2,4,4) 
point_empty = pygeos.intersection(p, box)

mp_empty  = pygeos.multipoints([point, point_empty])                  

Converting to WKB raises an informative error:

>>> pygeos.to_wkb(mp_empty)      
...
GEOSException: IllegalArgumentException: Empty Points cannot be represented in WKB

However, converting to WKT crashes:

>>> pygeos.to_wkt(mp_empty)    
Segmentation fault (core dumped)

I am not 100% sure this is a GEOS issue, since there might be something wrong on the PyGEOS side. But posting here in case somebody knows or can confirm this is a GEOS bug.