If you read and understand the error message it told you the truth: you worked on barbaged memory.
Such textes are the golden trail for finding the problems. Learn to Google after such error textes!!!
You cant "restart" a thread, because it is a "Zombie". Free the objects and reate new instances of all objects!!! (re-write the code if necessary)
Please read and try to understand
C dynamic memory allocation. It sounds silly, but it is how it works. Follow some of the links and bookmark it. In some months you may understand it. ;-)