Randomly reboots while cleaning

I've bought a used Roomba i7. It mapped my home successfully and cleaned well a few times, but now it randomly reboots mid-cleaning cycle and doesn't return to the dock. It has 332 hours of use and has completed 635 jobs. I opened it and removed and reinserted the battery to ensure it was properly seated, but that didn't resolve the issue. Could this be due to a faulty battery? The issue occurs most often after it changes floor types or when it hits a wall.