Why did Ayesha battle with Ali (a.s) in the Battle of the Camel (Jamal)?

Many Sunni references point to the fact that Ayesha, along with some of the companions of the Prophet (saws) such as Talha and Zubair engaged into a battle with Ali (a.s). References :
- History (Tarikh) of al-Tabari, Events of year 36 AH
- History of Ibn al-Athir, v3, page 120
- Usdul Ghabah, v2, page 252
- Al-Mustadrak by Al-Hakim, v3, page 169 and page 371 What was the reason behind it?