In my experience a "frozen" caliper means that the piston will no longer move- as in seized in place. A seized caliper is not an intermittent condition.
As was suggested the rubber brake hoses are suspect in the problem you describe. It sounds like they are breaking down internally. Applying the brakes creates enough pressure to push past blockage in the hose. Releasing the brakes is not releasing the pressure in the calipers and causing the pads to drag on the rotors.
If your experience is the brakes drag after driving the car for awhile and then seem to release after sitting for awhile ask your mechanic how that results in giving a diagnosis of "frozen calipers".
Randy
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Any twenty minute job is just a broken bolt away from a three day ordeal
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