How to edit node through Url Alias?

Is there a quick and easy way to edit a node when one knows the url alias only and not the nid?

For example, if my node has the following url alias
www.drupal.org/my-node

Is there any way in Drupal 7 that I can do
www.drupal.org/my-node/edit
or any other technique?

(We can do this using the Sub Path Alias module in Drupal 6 but its not available for Drupal 7 and I wouldnt like to install a module just for that)