I don't know which companies do it, but I can tell you a school near here did Peter Pan and it cost them $10,000 for a week of rehearsels and a weekend of shows, so be sure you have the budget for it.
There's a great company HQ's in Rockford, IL. It does work all over the country... They'll come in, set it up, train you on how to use it, and then just come back to take it down. (or you could hire them to stay around I suppose)
The head guy there is Tracy Nunnally... He's excellent. Just a little insight on the company, this is a company that trains other rigging company's around the country... It's an excellant company...