diff --git a/.gitignore b/.gitignore
index a8292f2e..3c02397c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,12 @@
 .vscode/extensions.json
 lib/Webots
 webots/worlds/*.wbproj
-webots/worlds/*.jpg
\ No newline at end of file
+webots/worlds/*.jpg
+doc/doxygen/RemoteControlSim/
+doc/doxygen/RemoteControlTarget/
+doc/doxygen/SensorFusionSim/
+doc/doxygen/SensorFusionTarget/
+doc/doxygen/LineFollowerSim/
+doc/doxygen/LineFollowerTarget/
+doc/doxygen/ConvoyLeaderSim/
+doc/doxygen/ConvoyLeaderTarget/
\ No newline at end of file
diff --git a/doc/doxygen/doxygen_warnings.txt b/doc/doxygen/doxygen_warnings.txt
index f73ec18c..e69de29b 100644
--- a/doc/doxygen/doxygen_warnings.txt
+++ b/doc/doxygen/doxygen_warnings.txt
@@ -1,24 +0,0 @@
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/App.h:127: error: Member App(const App &app) (function) of class App is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/App.h:128: error: Member operator=(const App &app) (function) of class App is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:159: error: Member DrivingState(const DrivingState &state) (function) of class DrivingState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:160: error: Member operator=(const DrivingState &state) (function) of class DrivingState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:163: error: argument 'lineSensorValue' of command @param is not found in the argument list of DrivingState::processOnTrack(int16_t position, const uint16_t *lineSensorValues)
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:163: error: The following parameter of DrivingState::processOnTrack(int16_t position, const uint16_t *lineSensorValues) is not documented:
-  parameter 'lineSensorValues'
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:171: error: argument 'lineSensorValue' of command @param is not found in the argument list of DrivingState::processTrackLost(int16_t position, const uint16_t *lineSensorValues)
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:171: error: The following parameter of DrivingState::processTrackLost(int16_t position, const uint16_t *lineSensorValues) is not documented:
-  parameter 'lineSensorValues'
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ErrorState.h:125: error: Member ErrorState(const ErrorState &state) (function) of class ErrorState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ErrorState.h:126: error: Member operator=(const ErrorState &state) (function) of class ErrorState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/LineSensorsCalibrationState.h:134: error: Member LineSensorsCalibrationState(const LineSensorsCalibrationState &state) (function) of class LineSensorsCalibrationState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/LineSensorsCalibrationState.h:135: error: Member operator=(const LineSensorsCalibrationState &state) (function) of class LineSensorsCalibrationState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/MotorSpeedCalibrationState.h:140: error: Member MotorSpeedCalibrationState(const MotorSpeedCalibrationState &state) (function) of class MotorSpeedCalibrationState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/MotorSpeedCalibrationState.h:141: error: Member operator=(const MotorSpeedCalibrationState &state) (function) of class MotorSpeedCalibrationState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ParameterSets.h:135: error: Member ParameterSets(const ParameterSets &set) (function) of class ParameterSets is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ParameterSets.h:136: error: Member operator=(const ParameterSets &set) (function) of class ParameterSets is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReadyState.h:119: error: Member ReadyState(const ReadyState &state) (function) of class ReadyState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReadyState.h:120: error: Member operator=(const ReadyState &state) (function) of class ReadyState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReleaseTrackState.h:114: error: Member ReleaseTrackState(const ReleaseTrackState &state) (function) of class ReleaseTrackState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReleaseTrackState.h:115: error: Member operator=(const ReleaseTrackState &state) (function) of class ReleaseTrackState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/StartupState.h:113: error: Member StartupState(const StartupState &state) (function) of class StartupState is not documented.
-C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/StartupState.h:114: error: Member operator=(const StartupState &state) (function) of class StartupState is not documented.
diff --git a/lib/AppSensorFusion/App.h b/lib/AppSensorFusion/App.h
index 9e8e044c..f4981b35 100644
--- a/lib/AppSensorFusion/App.h
+++ b/lib/AppSensorFusion/App.h
@@ -124,8 +124,9 @@ class App
      */
     void sendSensorData() const;
 
-    App(const App& app);
-    App& operator=(const App& app);
+    /* Not allowed. */
+    App(const App& app);            /**< Copy construction of an instance. */
+    App& operator=(const App& app); /**< Assignment of an instance. */
 };
 
 /******************************************************************************
diff --git a/lib/AppSensorFusion/DrivingState.h b/lib/AppSensorFusion/DrivingState.h
index 9a738edc..1b0d831a 100644
--- a/lib/AppSensorFusion/DrivingState.h
+++ b/lib/AppSensorFusion/DrivingState.h
@@ -156,14 +156,15 @@ class DrivingState : public IState
     {
     }
 
-    DrivingState(const DrivingState& state);
-    DrivingState& operator=(const DrivingState& state);
+    /* Not allowed. */
+    DrivingState(const DrivingState& state);            /**< Copy construction of an instance. */
+    DrivingState& operator=(const DrivingState& state); /**< Assignment of an instance. */
 
     /**
      * Control driving in case the robot is on track.
      *
      * @param[in] position          Current position on track
-     * @param[in] lineSensorValue   Value of each line sensor
+     * @param[in] lineSensorValues   Value of each line sensor
      */
     void processOnTrack(int16_t position, const uint16_t* lineSensorValues);
 
@@ -172,7 +173,7 @@ class DrivingState : public IState
      * It handles the track search algorithm.
      *
      * @param[in] position          Current position on track
-     * @param[in] lineSensorValue   Value of each line sensor
+     * @param[in] lineSensorValues   Value of each line sensor
      */
     void processTrackLost(int16_t position, const uint16_t* lineSensorValues);
 
diff --git a/lib/AppSensorFusion/ErrorState.h b/lib/AppSensorFusion/ErrorState.h
index ed17ac7c..3bed272f 100644
--- a/lib/AppSensorFusion/ErrorState.h
+++ b/lib/AppSensorFusion/ErrorState.h
@@ -122,8 +122,9 @@ class ErrorState : public IState
     {
     }
 
-    ErrorState(const ErrorState& state);
-    ErrorState& operator=(const ErrorState& state);
+    /* Not allowed. */
+    ErrorState(const ErrorState& state);            /**< Copy construction of an instance. */
+    ErrorState& operator=(const ErrorState& state); /**< Assignment of an instance. */
 };
 
 /******************************************************************************
diff --git a/lib/AppSensorFusion/LineSensorsCalibrationState.h b/lib/AppSensorFusion/LineSensorsCalibrationState.h
index 2a34e095..075577f1 100644
--- a/lib/AppSensorFusion/LineSensorsCalibrationState.h
+++ b/lib/AppSensorFusion/LineSensorsCalibrationState.h
@@ -131,8 +131,9 @@ class LineSensorsCalibrationState : public IState
     {
     }
 
-    LineSensorsCalibrationState(const LineSensorsCalibrationState& state);
-    LineSensorsCalibrationState& operator=(const LineSensorsCalibrationState& state);
+    /* Not allowed. */
+    LineSensorsCalibrationState(const LineSensorsCalibrationState& state); /**< Copy construction of an instance. */
+    LineSensorsCalibrationState& operator=(const LineSensorsCalibrationState& state); /**< Assignment of an instance. */
 
     /**
      * Turn and calibrate the line sensors.
diff --git a/lib/AppSensorFusion/MotorSpeedCalibrationState.h b/lib/AppSensorFusion/MotorSpeedCalibrationState.h
index 53ed2b17..4dbca55e 100644
--- a/lib/AppSensorFusion/MotorSpeedCalibrationState.h
+++ b/lib/AppSensorFusion/MotorSpeedCalibrationState.h
@@ -137,8 +137,9 @@ class MotorSpeedCalibrationState : public IState
     {
     }
 
-    MotorSpeedCalibrationState(const MotorSpeedCalibrationState& state);
-    MotorSpeedCalibrationState& operator=(const MotorSpeedCalibrationState& state);
+    /* Not allowed. */
+    MotorSpeedCalibrationState(const MotorSpeedCalibrationState& state); /**< Copy construction of an instance. */
+    MotorSpeedCalibrationState& operator=(const MotorSpeedCalibrationState& state); /**< Assignment of an instance. */
 
     /**
      * Determine the max. motor speed, considering both driving directions.
diff --git a/lib/AppSensorFusion/ParameterSets.h b/lib/AppSensorFusion/ParameterSets.h
index 68f34d46..ca83bc28 100644
--- a/lib/AppSensorFusion/ParameterSets.h
+++ b/lib/AppSensorFusion/ParameterSets.h
@@ -132,8 +132,9 @@ class ParameterSets
      */
     ~ParameterSets();
 
-    ParameterSets(const ParameterSets& set);
-    ParameterSets& operator=(const ParameterSets& set);
+    /* Not allowed. */
+    ParameterSets(const ParameterSets& set);            /**< Copy construction of an instance. */
+    ParameterSets& operator=(const ParameterSets& set); /**< Assignment of an instance. */
 };
 
 /******************************************************************************
diff --git a/lib/AppSensorFusion/ReadyState.h b/lib/AppSensorFusion/ReadyState.h
index 31c59b5b..5eba6e78 100644
--- a/lib/AppSensorFusion/ReadyState.h
+++ b/lib/AppSensorFusion/ReadyState.h
@@ -116,8 +116,9 @@ class ReadyState : public IState
     {
     }
 
-    ReadyState(const ReadyState& state);
-    ReadyState& operator=(const ReadyState& state);
+    /* Not allowed. */
+    ReadyState(const ReadyState& state);            /**< Copy construction of an instance. */
+    ReadyState& operator=(const ReadyState& state); /**< Assignment of an instance. */
 };
 
 /******************************************************************************
diff --git a/lib/AppSensorFusion/ReleaseTrackState.h b/lib/AppSensorFusion/ReleaseTrackState.h
index d66c047f..d14d129d 100644
--- a/lib/AppSensorFusion/ReleaseTrackState.h
+++ b/lib/AppSensorFusion/ReleaseTrackState.h
@@ -111,8 +111,9 @@ class ReleaseTrackState : public IState
     {
     }
 
-    ReleaseTrackState(const ReleaseTrackState& state);
-    ReleaseTrackState& operator=(const ReleaseTrackState& state);
+    /* Not allowed. */
+    ReleaseTrackState(const ReleaseTrackState& state);            /**< Copy construction of an instance. */
+    ReleaseTrackState& operator=(const ReleaseTrackState& state); /**< Assignment of an instance. */
 
     /**
      * Show choosen parameter set on LCD.
diff --git a/lib/AppSensorFusion/StartupState.h b/lib/AppSensorFusion/StartupState.h
index 70802c4c..ef3ec93f 100644
--- a/lib/AppSensorFusion/StartupState.h
+++ b/lib/AppSensorFusion/StartupState.h
@@ -110,8 +110,9 @@ class StartupState : public IState
     {
     }
 
-    StartupState(const StartupState& state);
-    StartupState& operator=(const StartupState& state);
+    /* Not allowed. */
+    StartupState(const StartupState& state);            /**< Copy construction of an instance. */
+    StartupState& operator=(const StartupState& state); /**< Assignment of an instance. */
 };
 
 /******************************************************************************