What I would do (and what I have been doing since I have learnt) is to draw all the pieces at one go but allow for the kerf of the blade plus a little extra.
Say the kerf of the blade is 2mm. Leave about 5mm or so between each pencil line for you to jigsaw/handsaw/
circus circsaw between (leave more or less depending on the kerf of the blade and how closely you feel you can cut in the gap.)
Once you have your panels cut, clamp something straight to your pencil line (I use some 32mm square planed pine I have) and then use your router with a flush trim bit to remove the rest of the material and leave you with some lovely straight edges

I would also recommend marking the lines from one datum rather than incrementally marking each line from the previous one, that way any inaccuracies when marking wont be compounded.
*Edited for spelling, I dont think you can fit a circus in a 5mm gap, well maybe a flea circus
