Elders would have been men with community authority (Joshua 20:4), leaders were the heads of households (Joshua 14:1), judges were responsible for administrative duties (Deuteronomy 17:9), and officers exercised various levels of civil authority (Deuteronomy 1:15; Joshua 1:10).1
1 Joshua gathered all the tribes of Israel to Shechem and summoned the elders, the heads, the judges, and the officers of Israel. And they presented themselves before God.