diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e36175c3a..53e67b817 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -14,6 +14,7 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-enabled: true
+          doxygen-enabled: true
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
diff --git a/include/ignition/math/Cylinder.hh b/include/ignition/math/Cylinder.hh
index 31a2eacca..228f73f86 100644
--- a/include/ignition/math/Cylinder.hh
+++ b/include/ignition/math/Cylinder.hh
@@ -96,7 +96,6 @@ namespace ignition
       /// \brief Set the rotation offset.
       /// See Quaternion<Precision> RotationalOffset() for details on the
       /// rotational offset.
-      /// \return The cylinder's orientation.
       /// \sa Quaternion<Precision> RotationalOffset() const
       public: void SetRotationalOffset(
                   const Quaternion<Precision> &_rotOffset);
diff --git a/include/ignition/math/Ellipsoid.hh b/include/ignition/math/Ellipsoid.hh
index ced287293..4d67fa9ba 100644
--- a/include/ignition/math/Ellipsoid.hh
+++ b/include/ignition/math/Ellipsoid.hh
@@ -57,7 +57,7 @@ namespace ignition
       public: Vector3<Precision> Radii() const;
 
       /// \brief Set the radius in meters.
-      /// \param[in] _radius The radius of the ellipsoid in meters.
+      /// \param[in] _radii The radii of the ellipsoid in meters.
       public: void SetRadii(const Vector3<Precision> &_radii);
 
       /// \brief Get the material associated with this ellipsoid.
diff --git a/include/ignition/math/SignalStats.hh b/include/ignition/math/SignalStats.hh
index 12edc293a..2e1924ebe 100644
--- a/include/ignition/math/SignalStats.hh
+++ b/include/ignition/math/SignalStats.hh
@@ -78,7 +78,6 @@ namespace ignition
 #pragma warning(pop)
 #endif
     };
-    /// \}
 
     /// \class SignalMaximum SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the maximum value of a discretely sampled signal.
@@ -94,7 +93,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMean SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the mean value of a discretely sampled signal.
@@ -110,7 +108,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMinimum SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the minimum value of a discretely sampled signal.
@@ -126,7 +123,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalRootMeanSquare SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the square root of the mean squared value
@@ -143,7 +139,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMaxAbsoluteValue SignalStats.hh
     /// ignition/math/SignalStats.hh
@@ -162,7 +157,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalVariance SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the incremental variance
@@ -179,7 +173,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \brief Forward declare private data class.
     class SignalStatsPrivate;
@@ -256,7 +249,6 @@ namespace ignition
 #endif
     };
     }
-    /// \}
   }
 }
 #endif
diff --git a/include/ignition/math/SphericalCoordinates.hh b/include/ignition/math/SphericalCoordinates.hh
index d096e8567..8ee48ccc4 100644
--- a/include/ignition/math/SphericalCoordinates.hh
+++ b/include/ignition/math/SphericalCoordinates.hh
@@ -230,7 +230,6 @@ namespace ignition
 #pragma warning(pop)
 #endif
     };
-    /// \}
     }
   }
 }