you would do a string replace

URL::action('ArticleController@getView', [$article->id, str_replace(' ', '-', $article->title)])

I have a method on my models to create slugs, it handles other cases such as multiple spaces, international characters, lowercasing, and strips punctuation and special characters.

public function slug()
{
    $clean = $this->title;
    setlocale(LC_ALL, 'en_US.UTF8');

    $delimiter = '-';

    $clean = iconv('UTF-8', 'ASCII//TRANSLIT', $clean);
    $clean = preg_replace("/[^a-zA-Z0-9\/_|+ -]/", '', $clean);
    $clean = preg_replace("/[\/_|+ -]+/", $delimiter, $clean);
    $clean = strtolower(trim($clean, $delimiter));

    return $clean;
}

I got the method from the following url: http://cubiq.org/the-perfect-php-clean-url-generator

Then you would use it like:

URL::action('ArticleController@getView', [$article->id, $article->slug()])

Also, if your article names are unique, you can save the slug to the database and drop the id from the url, and search for article by slug instead of id. Make sure the slug is also unique.