The parameters of $\rm\Lambda CDM$ model have been determined to an amazing high precision from the measurements made by the Planck mission. In particular, the Hubble "constant" (the value of Hubble parameter at the present day) has been determined to be $H_0 = (67.3 \pm 1.2 )\, \text{km} \, \text{s}^{-1} \text{Mpc}^{-1}$. They have also given values for the density parameters at the present day (the density divided by the critical density) coming from cosmological constant, $\Omega_{\Lambda,0} = 0.6817$, and from matter, $\Omega_{m,0} = 0.3183$. The age of the Universe $t_0$ can be calculated from other cosmological parameters in this way
$$t_0 = \frac{1}{H_0}\int_0^1 \frac{a\,\text{d}a} { \sqrt{\Omega_{\Lambda,0}a^{4} + \Omega_{k,0}a^{2} + \Omega_{m,0}a + \Omega_{r,0}} },$$
where $\Omega_k = 1 - \Omega$ is the space curvature parameter, $\Omega = \Omega_{m,0} + \Omega_{\Lambda,0} + \Omega_{r,0}$ is the total energy density parameter (the energy density divided by the critical density) and $\Omega_r$ is the energy density parameter coming from radiation.
I have read that the age of the Universe has been established from the Planck mission measurements as $t_0 = 13.82 \times 10^9$ years. My question is: how is this value been calculated? I mean, it has been calculated assuming a flat space geometry, that is, assuming that $\Omega_k = 1 - \Omega = 0$? If not, what values for $\Omega_{r,0}$ and $\Omega_{k,0}$ have been used to perform the calculation?