Rate coefficients for energy-pooling (EP) collisions Rb(5P_(J))+Cs(6P_(3/2))-->Rb(5S_(1/2))+Cs(nl_(J')) have been measured. Atoms were excited to Rb(5P_(J)) and Cs(6P_(3/2)) states using two single-mode diode lasers. To isolate the heteronuclear contribution in the fluorescence spectrum, a double-modulation technique has been adopted. The excited-atom density and spatial distribution are mapped by monitoring the absorption of a counterpropagating single-mode diode laser beam, tuned to Rb(5P_(J)-->7S_(1/2)) and Cs(6P_(3/2)-->8S_(1/2)) transitions respectively, which could be translated parallelly to the pump beams. The excited atom densities are combined with the measured fluorescence ratios to determine cross sections for the EP processes. It was found that Rb(5P_(J))+Cs(6P_(3/2)) collisions are more efficient than Rb(5P_(3/2))+Cs(6P_(3/2)) collisions for populating Cs(4F_(5/2)), while the opposite is true for populating Cs(4F_(7/2)).