unknown electrical issue

[audietron]

We are having an issue with our robot working great for about a minute before the battery starts to drain rapidly. It continues to drop to about 11 volts at around 3 minutes of hard defense before it starts to jitter like seen in this video.

http://youtu.be/_hXEWTRuxOU

Also shown in the video is that nothing else is able to be controlled while it is happening. The motor controllers run green yellow red rapidly when this is occurring. We have changed out the breakers and checked all the wiring connections and are still not able to figure it out.

Any help would be appreciated.