If you have a set of jack stands, lift the car and check to see if the wheels rotate freely or do you have a caliper sticking..... If you don't have jack stands, drive the car for a bit and try to use the brakes as little as possible. Once you do come to a stop, get out and feel around the rotors. Be careful. My guess is you'll find 1 or more that is way hotter than the rest of them.
I suspect you have a caliper sticking. Probably in the rear as you would notice one dragging in the front as it would pull to one side or the other.