Inelastic collision processes between neutral Mg atoms and Rb(+) ions, both in their ground states, have been studied by means of a crossed molecular beam technique measuring the decay fluorescence of the excited species formed. Emissions corresponding to Mg(3 (1)P(1)), Mg(3 (3)D(3,2,1)), and Mg(4 (3)S(1)), formed by direct target excitation, Rb(5 (2)P(3/2,1/2)), Rb(6 (2)P(3/2,1/2)) produced by electron capture and also the phosphorescent emission due to decay of Mg(3 (3)P(1)), have been detected and the corresponding absolute cross-section values measured both as total values and resolved into their J states. No polarization measurements could be made. Ab initio calculations using pseudopotentials have been performed and from these a manifold of adiabatic energy curves correlating with the different entry and exit channels have been obtained, allowing to propose a qualitative interpretation of the results, such as the shape of the cross section vs energy for different transitions and the oscillating nature of the branching ratios due to interference effects.