Probably not, and that's why it's acting up. The 11S has specific limitations with rugs.
Here's the deal: You should avoid cleaning very dark-colored high-pile rugs, or any rug thicker than 1.02 inches (26 mm). The cliff sensors underneath can mistake a dark rug for a drop-off and stop. Thick pile can also tangle the brush and cause motor strain.
What you can try: If it's a thinner, dark rug, you can test it. Fold any tasseled edges underneath to prevent tangling. Place a physical barrier in front of the rug if the robot consistently gets stuck or errors out.
Heads up: The anti-drop sensors also work less effectively on reflective or very dark-colored floors. If you have dark tile or hardwood, the same hesitation might happen. In problem areas, using a physical barrier is the official recommendation.