Choosing Spies

Numbers 13:1-16 - The LORD said to Moses, "Send some men to explore the land of Canaan, which I am giving to the Israelites. From each ancestral tribe send one of its leaders."

So at the LORD's command Moses sent them out from the Desert of Paran. All of them were leaders of the Israelites. These are their names:

from the tribe of Reuben, Shammua son of Zaccur;
from the tribe of Simeon, Shaphat son of Hori;
from the tribe of Judah, Caleb son of Jephunneh;
from the tribe of Issachar, Igal son of Joseph;
from the tribe of Ephraim, Hoshea son of Nun;
from the tribe of Benjamin, Palti son of Raphu;
from the tribe of Zebulun, Gaddiel son of Sodi;
from the tribe of Manasseh (a tribe of Joseph), Gaddi son of Susi;
from the tribe of Dan, Ammiel son of Gemalli;
from the tribe of Asher, Sethur son of Michael;
from the tribe of Naphtali, Nahbi son of Vophsi;
from the tribe of Gad, Geuel son of Maki.

These are the names of the men Moses sent to explore the land. (Moses gave Hoshea son of Nun the name Joshua.)

With the exception of Joshua, I wonder how Moses decided which leader to choose from each tribe. Was it done by casting lots? Was it based on history, experience, merit, and/or ability?

I'm curious. Could you please tell me what brought you to this page by mentioning it in a comment? I won't publish the comment, if you ask me not to.