I just moved from Warrensburg and I used to train at Warrior Jujitsu for over 3 years. It's an MMA oriented school with a grappling base in Judo, Sambo, and japanese jujitsu. It's a great gym and they definitely do not hate on rubber guard. The coach there, Billy Matheny, actually attended a 10th Planet seminar out in Springfield. It's not his game but Billy always encouraged me with any and all of my grappling development.
That being said, they are not focused on no gi submission grappling as a sport unto itself, I think 10th Planet Springfield excels in that department. They are a great group of guys over at Warrior but the gym hours can be limiting (no morning or noon classes) with the class schedule split between MMA and jujitsu classes.
I am currently training at KCBJJ now though, since I currently live in Lenexa KS. KCBJJ is pure jiujitsu, gi and no gi. Those guys are at the heart of the KC jiujitsu scene and they have the talent pool to show it. It's definitely been an awesome but challenging skill adjustment but I'm thankful to have found such a great gym.
Also, I don't know if you have access to Whiteman Air Force base but I heard that there's a Machado Purple Belt who teaches on base.