Incase anyone else hits this issue, I found the solution. I had selected the wrong name in the App's settings. I should have entered "tvOSIcons" and not "AppIconTV". See:

FYI for anyone who hits this issue. I created a new project with the same settings as the old one and slowly added back my assets (one at a time and recompiling after each add) until I found the offending .jpg file. As far as I can tell, there wasn't anything wrong with the original but I was able to open it in an image editor and re-export it as a .jpg file. I deleted the "bad" copy from the asset catalog and added the new. After that I was able to successfully compile. I went back to the original project and made the same change, now everything is compiling and running normally. I would be nice if we could put the Asset Catalog Compiler in a verbose mode where we could see exactly which file it was processing when it crashed. That would have saved me days of work.