Hello,
All the RV Router's support SNMP v1,2 and newer ones support v3. CNA and Prime Infrastructure will work.
There is also a browser plugin called FindIT. This is a free tool that will discover any SMB devices on the network providing IP addresses, MAC addresses, Versions, and allows you to manage each devices.
http://www.cisco.com/c/en/us/products/cloud-systems-management/small-business-findit-network-discovery-utility/index.html
I hope this helps.
Regards,
Chris