My Roomba Discovery SE would lurch forward briefly, then immediately begin circling backwards (tight circles - not spirals), then stop and shut off. This guide shows how to disassemble your Roomba to clean the dirty optical tachometers that create the "Circle Dance" condition.
Please note that disassembling your Roomba using my instructions will probably void the warranty. I accept no responsibility for your results or broken Roombas.
These instructions are specifically for the Roomba Discovery SE (gray) or Discovery (white), although advice is given for Roomba Red owners. Special thanks to Roger Crier and Gordon Plewes for their generous advice and suggestions.