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First of all, when the battery voltage drops too low (I want to say below 7 volts but don't quote me on it), the robot controller resets itself (it doesn't have enough voltage to maintain itself on, so it turns off, dropping the load on the battery, which means that there's enough voltage to power the robot controller so it restarts).
As far as the basic run errors, it's almost definately a code problem. It can be caused by an infinite loop. It can also be caused by doing something illegal in the code. I also believe if you SerIn more or less data than you should or Serout the wrong amount, you'll get a Basic Run Error.
Matt
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