[eluser]adamfairholm[/eluser]
donjim,
What you are talking about is more application organization than MVC - your URL structure is really up to you, and it is dictated by what the needs of your application are building, so whether you use company/edit/person or person/company/edit, is more of a organization question.
When you edit a person, why not have a drop down for a company as well instead of having a separate method for just editing the person's company? That way you could have person/edit and have everything in one place.
I'd recommend getting away from thinking of the first URI segment as a folder though, with different controllers for edit and view and other operations like that. If you have a company controller, then you can have edit and view functions within those, and keep things a lot cleaner. You can use routes to route more complex urls to your controllers as well.
Hope that helps!
Adam