Sounds simple, Let's do it. The escape escape is determined by the amount of mass in the Universe and by how close together is the mass: the critical density for our Universe can be determined by measuring the rate at which our Universe is expanding. This when compared to the actual density in the mass will indicate whether our Universe is open, closed, or flat.
For a closed Universe, if the Universe has:
Explicitly, the critical density
for the Universe is
where H is the Hubble constant denoted by Ho for the value measured at the present epoch and G is the gravitational constant. For convenience, we define Omega as