How to rewrite Views filter URLs when based on an aliased node URL?
Have a look to Query Parameters To URL, I believe it fits your need :


  This module provides the ability to rewrite URL query parameters into Clean URL components on specified paths.
  
  An example of a dirty URL like that could be:
  example.com/events?field_category_id[0]=100&amp;field_category_id1=101&amp;field_author_name[0]=John
  
  Using this module you can transform the URL into:
  example.com/events/p/field_category_id/0__100--1__101/field_author_name/John