RecoveryFailedException after a node restart

Hi, I have been testing a 5 node elastic search cluster. When I restarted one of the nodes, I started getting RecoveryFailedException, I also tried cleaning up its data directory as well as set replication factor to zero. Still restarted node is crashing due to following error..
org.elasticsearch.indices.recovery.RecoveryFailedException: : Recovery failed from [node-3][Rq2FL3-dRq-Oc0MkSlNd9Q][inet[/10.113.196.53:9300]]{max_local_storage_nodes=1, master=false} into [node-4][rRJfI1TyQaKVZkPtMFairQ][aes05][inet[aes05/10.113.196.71:9300]]{max_local_storage_nodes=1, master=false}
at org.elasticsearch.indices.recovery.RecoveryTarget.doRecovery(RecoveryTarget.java:280)
at org.elasticsearch.indices.recovery.RecoveryTarget.access$700(RecoveryTarget.java:70)
at org.elasticsearch.indices.recovery.RecoveryTarget$RecoveryRunner.doRun(RecoveryTarget.java:561)
at org.elasticsearch.common.util.concurrent.AbstractRunnable.run(AbstractRunnable.java:36)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
at java.lang.Thread.run(Thread.java:745)
Caused by: org.elasticsearch.transport.TransportException: transport stopped, action: internal:index/shard/recovery/start_recovery
at org.elasticsearch.transport.TransportService$2.run(TransportService.java:178)
... 3 more
Can you please give me some pointers how to resolve this error?

What version, what does your config look like?