Change Categories and Tags Page URL

I want to change the URL structure of the Categories and Tags page from something like

http://localhost/questions/categories to http://localhost/categories/

http://localhost/questions/tags to http://localhost/tags.

This is required because I plan to use Categories and Tags taxonomies with multiple other custom post types on my website and I want the URLs to look like

http://localhost/categories/questions/, http://localhost/categories/articles/, http://localhost/categories/videos/……. etc