If I’m not mistaken sh404sef is supporting this feature for a long time. In any case if you use it and have problems with duplicate urls u can always rewrite the way url looks for any component, since its very dynamic.
This tutorial here shows how to set up sh404 advanced mode:
http://www.joomlaworld.org/joomla-videos/sh404sef-setting-up-advanced-mode.html
Hope it helps,
William