Magento:: Fancy Url using config.xml

Simply, open config.xml file of your Magento module and put this code inside tag.

<rewrite>
    <warranty_v1>
        <from><!&#91;CDATA&#91;#^/warranty/index/warranty-v1/#&#93;&#93;></from>
        <to><!&#91;CDATA&#91;/warranty/index/warranty_v1/&#93;&#93;></to>
        <complete>1</complete>
    </warranty_v1>
    <warranty_v2>
        <from><!&#91;CDATA&#91;#^/warranty/index/warranty-v2/#&#93;&#93;></from>
        <to><!&#91;CDATA&#91;/warranty/index/warranty_v2/&#93;&#93;></to>
        <complete>1</complete>
    </warranty_v2>
</rewrite>