How can I upgrade the Android OS programmatically on a device with root access?

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Someone posted a similar question here, but it didn't get a response that's relevant to me. I'm working with a kiosk-like device that runs Android, and I'd like the ability to upgrade the OS remotely. I know Google and mobile carriers manage to do it OTA. Given that I have root privileges on the devices, how can I do the same?

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