As far as I know, for all of the original (Gen1 and Gen2) Segways - although there are sensors for pressure from both feet, having ONE foot on the platform is sufficient to tell the Segway that there is a rider present.
Other than that, there is no generalization about behavior if the rider dismounts, or before the rider mounts, or other situations.
It depends on the model of the Segway. For instance, as you might suspect, the behavior of the Police/Patroller is quite different from some other models.
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